Kontrol Mobil Otonom pada Jalan Menanjak dengan Menggunakan Fuzzy Logic Controller (FLC)

Pamungkas, Bagus (2022) Kontrol Mobil Otonom pada Jalan Menanjak dengan Menggunakan Fuzzy Logic Controller (FLC). Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Mobil sebagai salah satu transportasi utama yang sudah banyak digunakan telah berkembang begitu pesat hingga ke tingkat otomasi. Mobil otonom sudah menjadi salah satu penelitian dan pengembangan yang sedang banyak dilakukan sudah selayaknya dapat bekerja dengan baik. Salah satu metode kontrol yang telah terbukti dapat mengontrol mobil ini layaknya pengemudi handal adalah fuzzy logic controller (FLC). Berbagai macam kondisi jalan yang kita temui sudah seharusnya menjadi pertimbangan agar kontroler tersebut dapat bekerja dengan baik. Salah satu dari kondisi jalan yang biasa ditemukan adalah keadaan jalan menanjak. Eksperimen kontrol mobil otonom dilakukan dengan pembagian dua skenario yaitu keberadaan tanjakan dan jumlah membership function pada input FLC. Hasil simulasi memperlihatkan bahwa mobil otonom mampu menempuh jalan menanjak dari rentang 0% hingga 30% sembari mempertahankan kecepatan mendekati referensi kecepatan 40 km/jam dengan RMSE sebesar 4.3662 km/jam dengan steady state error kurang dari 0.9 km/jam dan mengikuti referensi jalur yang sudah ditentukan dengan nilai RMSE lateral error dan angular error sebesar 0.9297 meter dan 4.1822°. Kontroler dengan tujuh membership function pada input memperlihatkan kontrol kecepatan longitudinal yang lebih baik sedangkan kontroler dengan tiga membership function pada input memiliki kontrol lateral yang lebih baik.
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Abstract: Car as one of many transportations that is widely used and developed rapidly to a level of automation. Autonomous car has been studied and developed by many in order for it to work properly. One method to control such car is fuzzy logic controller (FLC) which has been proven that it is able to control a car like a professional human driver. Real life conditions must be taken into consideration when modelling an autonomous car for it to work properly. One of those road conditions that is taken to consideration is road slope when the car is going through an uphill road. Simulation is done by having different schemes where autonomous car went through flat road and uphill road as well as controller having different number of membership function for its input. The simulation shows that the autonomous car is able to went through uphill road from 0% to 30% while keeping the car near the reference speed (40 km/h) with RMSE value of 4.3662 km/h and steady state error less than 0.9 km/h as well as following the reference path with RMSE value of 0.9297 meter for lateral error and 4.1822° for angular error. It shows that controller with 7 membership function in its inputs has less error on longitudinal velocity whereas controller with 3 membership function on its inputs do better in lateral dynamics.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Mobil Otonom, Fuzzy Logic Controller, Jalan Menanjak. Autonomous Car, Fuzzy Logic Controller, Uphill Road.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Mr. Marsudiyana -
Date Deposited:	15 Jun 2026 01:38
Last Modified:	15 Jun 2026 01:38
URI:	http://repository.its.ac.id/id/eprint/133789

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