Analisis Algoritma Coverage Path Planning Bentuk Poligon Bf Dan Spiral Pada Waypoint Quadcopter

Dzulkifli, Rayyan Rachman F. (2024) Analisis Algoritma Coverage Path Planning Bentuk Poligon Bf Dan Spiral Pada Waypoint Quadcopter. Diploma thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Quadcopter adalah kendaraan udara tak berawak dengan kemampuan lepas landas dan mendarat secara vertikal yang efektif untuk pengawasan, pemetaan, dan pengantaran barang. Dengan empat motor pada setiap lengan, quadcopter mampu melakukan roll, pitch, dan yaw pada sumbu x, y, dan z, memungkinkan manuver seperti terbang mundur, ke samping, dan mengubah posisi heading. Sistem navigasi waypoint pada quadcopter memungkinkan pengaturan dan pemantauan secara otonom, dengan input berupa jalur lintasan dalam bentuk koordinat yang dihasilkan melalui proses coverage path. Jalur ini kemudian dijalankan menggunakan perangkat keras Raspberry Pi yang memandu flight controller (Pixhawk) dalam sistem kontrol tertutup. Penelitian ini bertujuan untuk menganalisis pengaruh variasi algoritma jenis path planning, jumlah koordinat, dan penambahan payload terhadap konsumsi energi, dan durasi terbang quadcopter. Penelitian ini menggunakan dua metode path planning, seperti Back and Forth dan Spiral serta mempertimbangkan variabel penting seperti bentuk area cakupan (ROI), jumlah titik koordinat, dan variasi penambahan payload. Hasil penelitian menunjukkan bahwa metode path planning Spiral memiliki konsusmi energi yang lebih tinggi sebesar 15,51 Wh pada 14 titik koordinat dengan 300 gr payload. Quadcopter memiliki durasi terbang lebih lama sebesar 4,28 menit pada 16 titik koordinat dengan 300 gr payload. Kecepatan rata-rata quadcopter terkecil sebesar 2,62 m/s pada 16 titik koordinat dengan 100 gr payload, hal tersebut dapat terjadi akibat adanya gangguan dari faktor eksternal. Kemudian, kecepatan maksimum quadcopter relatif konstan sekitar 8,06 m/s hingga 8,32 m/s meskipun terdapat perubahan payload. Sedangkan pada metode path planning Back and Forth, memiliki konsumsi energi yang lebih tinggi sebesar 15,56 Wh pada 16 titik koordinat dengan 300 gr payload. Durasi terbang quadcopter sedikit lebih lama sebesar 4,31 menit pada 16 titik koordinat dengan 300 gr payload. Kecepatan rata-rata quadcopter yang terkecil sebesar 2,69 m/s pada 16 titik koordinat dengan 100 gr payload, hal tersebut dapat terjadi akibat adanya gangguan dari faktor eksternal. Kemudian, kecepatan maksimum quadcopter cenderung lebih kecil sebesar 7,09 m/s pada 16 titik koordinat dengan 200 gr payload. Selain itu, terdapat error dalam sistem navigasi quadcopter yang ditunjukkan dengan hasil selisih jarak koordinat acuan dengan koordinat penerbangan quadcopter, namun dengan rata-rata deviasi yang rendah.
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Quadcopter is an unmanned aerial vehicle with vertical take-off and landing capabilities that is effective for surveillance, mapping and delivery of goods. With four motors on each arm, quadcopter able to do roll, pitch, and yaw on the x, y, and z axes, allowing maneuvers such as flying backwards, sideways, and changing positions heading. Navigation system waypoint on quadcopter allows autonomous setup and monitoring, with input in the form of a trajectory path in the form of coordinates produced through the process coverage path. This path is then executed using hardware Raspberry Pi who drives flight controller (Pixhawk) in a closed control system. This research aims to analyze the influence of variations in algorithm types path planning, number of coordinates, and addition payload on energy consumption and flight duration quadcopter. This research uses two methods path planning, like Back and Forth and Spiral and consider important variables such as the shape of the coverage area (ROI), the number of coordinate points, and additional variations payload. The research results show that the method path planning Spiral has a higher energy consumption of 15.51 Wh at 14 coordinate points with 300 gr payload. Quadcopter has a longer flight duration of 4.28 minutes at 16 coordinate points with 300 gr payload. Average speed quadcopter the smallest was 2.62 m/s at 16 coordinate points with 100 gr payload, this can occur due to interference from external factors. Then, maximum speed quadcopter relatively constant around 8.06 m/s to 8.32 m/s even though there are changes payload. Meanwhile on method path planning Back and Forth, has a higher energy consumption of 15.56 Wh at 16 coordinate points with 300 gr payload. Flight duration quadcopter slightly longer at 4.31 minutes at 16 coordinate points with 300 gr payload. Average speed quadcopter the smallest was 2.69 m/s at 16 coordinate points with 100 gr payload, this can occur due to interference from external factors. Then, maximum speed quadcopter tends to be smaller at 7.09 m/s at 16 coordinate points with 200 gr payload. In addition, there are error in the navigation system quadcopter which is indicated by the difference in the distance between the reference coordinates and the flight coordinates quadcopter, but with a low average deviation.

Item Type:	Thesis (Diploma)
Uncontrolled Keywords:	Quadcopter, Path Planning, Payload
Subjects:	T Technology > T Technology (General) T Technology > T Technology (General) > T57.5 Data Processing T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL589.2.N3 Navigation computer T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL777 Details and parts of models (Including propellers) T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Dzulkifli Rayyan Rachman Fisabilillah
Date Deposited:	10 Sep 2024 01:17
Last Modified:	10 Sep 2024 01:17
URI:	http://repository.its.ac.id/id/eprint/115608

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