Perencanaan Jalur Quadcopter dan Penghindaran Rintangan Menggunakan Algoritma Fuzzy RRT

Sadida, Tiara Asa (2024) Perencanaan Jalur Quadcopter dan Penghindaran Rintangan Menggunakan Algoritma Fuzzy RRT. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Sistem kontrol UAV (Unmanned Aerial Vehicle) merupakan topik penelitian yang sering dikembangkan di bidang penerbangan terutama mengenai perencanaan jalur dan penghindaran rintangan di berbagai sektor, sehingga berbagai metode sering diuji untuk memperoleh hasil optimal. Berdasarkan hal tersebut, diperlukan algoritma yang efektif dan efisien untuk eksplorasi ruang pada UAV. Pada tugas akhir ini, dikembangkan dua metode Rapidly exploring Random Tree (RRT) untuk global path planning dan Fuzzy Control Logic untuk local planning refinement. Kedua metode ini dipilih karena keefektifannya dalam optimalisasi jalur pada ruang tiga dimensi dan kemampuan menyesuaikan jalur dengan keadaan sekitar. Pada tugas akhir ini dirancang simulasi dalam MATLAB yang memungkinkan quadcopter merencanakan jalur, menghindari rintangan, dan mencapai tujuan. Dengan mengombinasikan RRT dan Fuzzy Control Logic, proses eksplorasi ruang tiga dimensi dapat ditingkatkan serta menghasilkan jalur yang lebih baik, sehingga lebih efisien dan mudah diikuti oleh quadcopter. Hasil simulasi menunjukkan bahwa kombinasi RRT dan Fuzzy Control Logic mampu memperbaiki perencanaan jalur untuk quadcopter dengan pengurangan panjang jalur total sebesar 9.73% hingga 14.74% setelah fuzzy refinement, pengurangan nilai kesalahan RMSE sebesar 24.44%, MedAE sebesar 20.81%, dan pengurangan curvature serta deviasi jalurnya.
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The UAV (Unmanned Aerial Vehicle) control system is a frequently developed research topic in aviation, especially regarding path planning and obstacle avoidance in various sectors. Effective and efficient algorithms are needed for UAV space exploration. In this final project, two methods are developed: Rapidly exploring Random Tree (RRT) for global path planning and Fuzzy Control for local planning refinement. These methods were chosen for their effectiveness in optimizing paths in three dimensional space and adapting to surroundings. Therefore, a MATLAB simulation will be designed, enabling the quadcopter to plan paths, avoid obstacles, and reach destinations. Combining RRT and Fuzzy Control Logic aims to enhance three-dimensional space exploration and produce a better path, making it more efficient and easier for the quadcopter to follow. Simulation results show that the combination of RRT and Fuzzy Control Logic improves path planning for the quadcopter, with a reduction in total path length of 9.73% to 14.74% after fuzzy refinement, a reduction in RMSE error value by 24.44%, MedAE of 20.81%, and a reduction in curvature and path deviation.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Fuzzy Control Logic, Obstacle Avoidance, Path Planning, RRT, Quadcopter, Fuzzy Control Logic, Penghindaran Rintangan, Perencanaan Jalur, RRT, Quadcopter
Subjects:	T Technology > T Technology (General) > T57.8 Nonlinear programming. Support vector machine. Wavelets. Hidden Markov models. T Technology > T Technology (General) > T57.83 Dynamic programming
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Tiara Asa Sadida
Date Deposited:	30 Jul 2024 05:39
Last Modified:	30 Jul 2024 05:39
URI:	http://repository.its.ac.id/id/eprint/110426

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