Perencanaan Jalur dan Penghindaran Rintangan Menggunakan Algoritma Interfered Fluid Dynamical System pada Quadcopter

Mawla, Phedra Fazle (2025) Perencanaan Jalur dan Penghindaran Rintangan Menggunakan Algoritma Interfered Fluid Dynamical System pada Quadcopter. 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 memeroleh hasil optimal. Berdasarkan hal tersebut, diperlukan pengembangan algoritma yang efektif dan efisien untuk melakukan eksplorasi ruang pada UAV guna menjalankan tugasnya. Pada tugas akhir ini akan dilakukan pengembangan dua metode, yaitu IFDS untuk global planning dan Fuzzy Logic Control secara terkhusus untuk penghindaran rintangan pada local planning-nya. Metode IFDS dan Fuzzy Logic Control, dipilih karena keefektifan IFDS dalam pembuatan jalur pada ruang tiga dimensi dan kemampuan Fuzzy Logic Control untuk menyesuaikan jalur dengan keadaan sekitar. Maka dari itu, pada tugas akhir ini akan dirancang simulasi dalam MATLAB yang memungkinkan quadcopter merencanakan jalur, menghindari rintangan, dan mencapai
tujuannya. Dengan mengombinasikan IFDS dengan kemampuan Fuzzy Logic Control, diharapkan penggunaan kedua metode ini secara bersama-sama dapat meningkatkan kemampuan eksplorasi ruang tiga dimensi serta mengurangi risiko terjadinya tabrakan atau kegagalan navigasi. Hasil simulasi menunjukkan rata-rata waktu komputasi jalur global pada tiga ruang yang berbeda sebesar 0.1969 detik dan quadcopter mampu mengikuti jalur dan menghindari rintangan dinamis tanpa adanya tabrakan dengan waktu 79.5 detik dan RMSE pengikutan jalur sebesar 1.7691 meter.
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UAV (Unmanned Aerial Vehicle) control system is a research topic that is frequently developed in the field of aviation, particularly in path planning and obstacle avoidance across various sectors. As such, several methods are often tested to achieve optimal results. Based on this, the development of effective and efficient algorithms is necessary to enable UAVs to explore the space in order to perform their tasks. In this thesis, two methods will be developed: IFDS for global planning and Fuzzy Logic Control specifically for obstacle avoidance in local planning. The IFDS and Fuzzy Logic Control methods were chosen due to the effectiveness of IFDS in generating paths in three-dimensional space and the ability of Fuzzy Logic Control to adjust the path according to the surrounding environment. Therefore, this thesis will design a simulation in MATLAB that allows the quadcopter to plan a path, avoid obstacles, and reach its destination. By combining IFDS with the capabilities of Fuzzy Logic Control, it is expected that the use of both methods together will enhance the ability to explore three-dimensional space and reduce the risk of collisions or navigation failures. The simulation results show an average global path computation time of 0.1969 seconds across three different environments, with the quadcopter successfully following the path and avoiding dynamic obstacles without any collisions, achieving a time of 79.5 seconds and an RMSE of 1.7691 meters for path tracking.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Fuzzy Logic, IFDS, Pengikutan Jalur Dinamis, Quadcopter, Path Planning, Fuzzy Logic, IFDS, Dynamic Path Following, Quadcopter, Path Planning.
Subjects:	T Technology > T Technology (General) > T57.62 Simulation T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL776 .N67 Quadrotor helicopters--Automatic control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Phedra Fazle Mawla
Date Deposited:	27 Jan 2025 02:50
Last Modified:	27 Jan 2025 02:50
URI:	http://repository.its.ac.id/id/eprint/116935

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