Path Tracking Dan Obstacle Avoidance Pada AUV Menggunakan 3D Line-of-Sight Dengan Slip Angle Observer

Risqullah, Moh Rifqy (2025) Path Tracking Dan Obstacle Avoidance Pada AUV Menggunakan 3D Line-of-Sight Dengan Slip Angle Observer. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian ini mengusulkan desain slip angle observer untuk meningkatkan performa path tracking dari Autonomous Underwater Vehicle (AUV) berbasis 3D Line-of-Sight (LOS). Slip angle observer yang dikembangkan mampu mengestimasi slip angle pada bidang horizontal dan vertikal. Untuk mengatasi diskontinuitas straight-line path, observer dirancang sebagai hybrid observer yang dapat menyesuaikan metode estimasi antara slip angle observer dan projection parameter. Metode yang diusulkan diuji melalui simulasi pada lingkungan tanpa gangguan dan dengan gangguan. Hasil menunjukkan bahwa observer yang dibuat hybrid dapat meningkatkan akurasi estimasi slip angle dan meningkatkan performa path tracking yang ditinjau dari RMSE, nilai maksimum absolut, dan standar deviasi. Selain itu, metode ini juga diintegrasikan dengan Whale Optimization Algorithm (WOA) untuk skenario obstacle avoidance. Gabungan 3D LOS, slip angle observer, dan WOA membuat AUV sukses menghindari halangan serta kembali ke jalur utama, baik pada lingkungan dengan maupun tanpa gangguan. Performa obstacle avoidance dinilai berdasarkan fungsi threat, dimana gabungan 3D LOS, slip angle observer, dan WOA membuat AUV sukses menghindari halangan serta kembali ke jalur utama, baik pada lingkungan dengan maupun tanpa gangguan.
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This study proposes the design of a slip angle observer to improve the path tracking performance of an Autonomous Underwater Vehicle (AUV) based on 3D Line-of-Sight (LOS). The developed slip angle observer is capable of estimating slip angles in both horizontal and vertical planes. To overcome the discontinuities of the straight-line path, the observer is designed as a hybrid observer that adapts the estimation method between the slip angle observer and the projection parameter. The proposed method is validated through simulations under both disturbed and undisturbed conditions. The results show that the combination of the slip angle observer and projection parameter improves slip angle estimation accuracy and delivers better path tracking performance—evaluated in terms of RMSE, maximum absolute error, and standard deviation—compared to other methods such as ALOS. Additionally, this method is integrated with the Whale Optimization Algorithm (WOA) for obstacle avoidance missions. The integration of 3D LOS, slip angle observer, and WOA enables the AUV to avoid obstacles and return to the main path in both disturbed and undisturbed environments.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	AUV, hybrid observer, LOS, obstacle avoidance, path tracking, slip angle observer
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20101-(S2) Master Thesis
Depositing User:	Moh Rifqy Risqullah
Date Deposited:	28 Jul 2025 08:03
Last Modified:	28 Jul 2025 08:03
URI:	http://repository.its.ac.id/id/eprint/121956

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