Implementasi Mission Controller Pada Unmanned Surface Vehicle (USV) Untuk Ooptimasi Sistem Autopilot Waypoint

Abdullah, Armi Diensyah Hafidz (2005) Implementasi Mission Controller Pada Unmanned Surface Vehicle (USV) Untuk Ooptimasi Sistem Autopilot Waypoint. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Perkembangan teknologi otonom telah mendorong pemanfaatan Unmanned Surface Vehicle (USV) dalam berbagai aplikasi maritim, seperti pemetaan laut, pemantauan lingkungan, hingga misi pertahanan. Penelitian ini bertujuan untuk mengimplementasikan dan mengoptimalkan modul mission controller berbasis Pixhawk 4 dan perangkat lunak ArduPilot untuk sistem navigasi autopilot waypoint pada USV. Tiga kombinasi parameter PID controller diuji untuk menilai performa manuver, kecepatan, dan akurasi dalam menyelesaikan misi. Pengujian dilakukan di danau ITS dengan tiga jalur waypoint berbeda (M1, M2, dan M3), masing-masing dengan panjang misi berturut-turut 4601,9 cm, 4067,0 cm, dan 7435,6 cm. Hasil pengujian menunjukkan bahwa kombinasi PID 1 (Kp = 0.4, Ki = 0.3, Kd = 0.07) berhasil menyelesaikan Misi 1 dalam 3 menit 11 detik dan Misi 3 dalam 7 menit 15 detik, dengan error jarak rata-rata 247,2 cm. Kombinasi PID 2 (Kp = 0.3, Ki = 0.4, Kd = 0.1) tidak menyelesaikan semua misi. Kombinasi PID 3 (Kp = 0.6, Ki = 0.3, Kd = 0.05) berhasil menyelesaikan Misi 2 dalam 3 menit 7 detik dan Misi 3 dalam 3 menit 26 detik, dengan error jarak minimum 244,6 cm. Data logger menunjukkan fluktuasi heading (yaw) dan altitude lebih stabil dalam mode AUTO dibanding MANUAL. Selain itu, dari 9 skenario pengujian, PID 1 dengan nilai Kp 0,4, Ki 0,3, Kd 0,07 menghasilkan performa paling seimbang, dengan manuver mendekati path plan dan jumlah sudut koreksi lebih sedikit dibanding kombinasi lainnya. Penelitian ini menyimpulkan bahwa konfigurasi PID harus disesuaikan dengan bentuk jalur misi agar USV dapat bermanuver secara presisi dan efisien. ================================================================================================================================
Advances in autonomous technology have driven the use of Unmanned Surface Vehicle (USV) in various maritime applications, such as marine mapping, environmental monitoring, and defense missions. This study aims to implement and optimize a Pixhawk 4-based mission controller module and ArduPilot software for an autopilot waypoint navigation system on USV. Three combinations of PID controller parameters were tested to evaluate maneuvering performance, speed, and accuracy in completing the mission. Testing was conducted on the ITS lake with three different waypoint routes (M1, M2, and M3), each with mission lengths of 4601.9 cm, 4067.0 cm, and 7435.6 cm, respectively. The test results showed that PID combination 1 (Kp = 0.4, Ki = 0.3, Kd = 0.07) successfully completed Mission 1 in 3 minutes 11 seconds and Mission 3 in 7 minutes 15 seconds, with an average distance error of 247.2 cm. The PID 2 combination (Kp = 0.3, Ki = 0.4, Kd = 0.1) did not complete all missions. The PID 3 combination (Kp = 0.6, Ki = 0.3, Kd = 0.05) successfully completed Mission 2 in 3 minutes 7 seconds and Mission 3 in 3 minutes 26 seconds, with a minimum distance error of 244.6 cm. The data logger showed that heading (yaw) and altitude fluctuations were more stable in AUTO mode compared to MANUAL mode. Additionally, out of 9 test scenarios, PID 1 with values Kp 0.4, Ki 0.3, Kd 0.07 produced the most balanced performance, with maneuvers closely following the path plan and fewer correction angles compared to other combinations. This study concludes that the PID configuration must be adjusted to the mission path shape to enable the USV to maneuver precisely and efficiently.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	ArduPilot, Autopilot, Mission Planner, PID Controller, Pixhawk, USV
Subjects:	V Naval Science > VK > VK555 Navigation. V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles.
Divisions:	Faculty of Marine Technology (MARTECH) > Marine Engineering > 36202-(S1) Undergraduate Thesis
Depositing User:	Armi Diensyah Hafidz Abdullah
Date Deposited:	07 Aug 2025 07:40
Last Modified:	07 Aug 2025 07:40
URI:	http://repository.its.ac.id/id/eprint/127363

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