Implementasi Algoritma Dijkstra Berbasis Priority Queue Binary Heap, Time Elastic Band, Dan Rudder Roll Stabilization Untuk Perencanaan Lintasan, Penghindaran Rintangan, Dan Stabilisasi Roll Pada Unmanned Surface Vehicle (USV)

Aulia, Muhammad Farrel (2026) Implementasi Algoritma Dijkstra Berbasis Priority Queue Binary Heap, Time Elastic Band, Dan Rudder Roll Stabilization Untuk Perencanaan Lintasan, Penghindaran Rintangan, Dan Stabilisasi Roll Pada Unmanned Surface Vehicle (USV). Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Indonesia sebagai negara maritim memerlukan teknologi navigasi otonom yang mampu beroperasi secara aman dan efisien di lingkungan perairan yang dinamis. Salah satu teknologi yang banyak digunakan adalah Unmanned Surface Vehicle (USV), yang membutuhkan sistem perencanaan jalur untuk menghasilkan lintasan optimal sekaligus menghindari rintangan statis maupun dinamis. Penelitian ini mengimplementasikan sistem navigasi pada USV LSS-01 yang mengintegrasikan algoritma Dijkstra berbasis Priority queue Binary heap sebagai perencana jalur global dan metode Time elastic band (TEB) sebagai penghindaran rintangan lokal secara real-time. Jalur global yang dihasilkan diperhalus menggunakan metode G2 Continuous Bezier Spiral (G2CBS) untuk menghasilkan lintasan dengan kontinuitas geometrik orde kedua sehingga transisi belokan menjadi lebih halus dan sesuai dengan kemampuan manuver USV. Sistem pemanduan menggunakan metode Integral Line-of-sight (ILOS), sedangkan stabilisasi gerakan roll dilakukan menggunakan metode Rudder Roll Stabilization (RRS) yang disuperposisikan dengan kendali yaw PID. Pengujian dilakukan melalui simulasi pada kondisi tanpa gangguan dan gangguan angin, serta implementasi lapangan di Danau 8 ITS Surabaya. Hasil simulasi menunjukkan bahwa algoritma Global – Lokal menghasilkan jarak tempuh yang lebih panjang dibandingkan algoritma Global akibat manuver penghindaran rintangan dinamis yang dilakukan TEB. Selain itu, metode RRS terbukti mampu mereduksi gerakan roll pada seluruh kondisi pengujian. Hasil implementasi lapangan menunjukkan bahwa selisih jarak tempuh antara kedua algoritma relatif kecil, sementara performa reduksi roll oleh RRS tetap terjaga secara konsisten. Integrasi Dijkstra, TEB, ILOS, dan RRS menghasilkan sistem navigasi USV yang adaptif, efisien, dan stabil dalam menghadapi rintangan dinamis serta gangguan lingkungan perairan.
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As a maritime country, Indonesia requires autonomous navigation technology capable of operating safely and efficiently in dynamic aquatic environments. One of the technologies widely used for this purpose is the Unmanned Surface Vehicle (USV), which requires a path planning system capable of generating optimal trajectories while avoiding both static and dynamic obstacles. This research implements a navigation system on USV LSS-01 by integrating the Dijkstra algorithm based on a Binary heap Priority queue as the global path planner and the Time elastic band (TEB) method as a real-time local obstacle avoidance planner. The global path generated by Dijkstra is smoothed using the G2 Continuous Bezier Spiral (G2CBS) method to produce a trajectory with second-order geometric continuity, enabling smoother turning transitions that are more compatible with the maneuvering capability of the USV. The guidance system employs the Integral Line-of-sight (ILOS) method, while roll motion stabilization is achieved using the Rudder Roll Stabilization (RRS) method superimposed on a yaw PID controller. Testing was conducted through simulations under four environmental conditions, namely no disturbance and wind disturbance, as well as field implementation at Lake 8, ITS Surabaya. Simulation results show that the Global + Local algorithm produces a longer travel distance than the Global algorithm due to the dynamic obstacle avoidance maneuvers performed by TEB. In addition, the RRS method effectively reduces roll motion under all testing conditions. Field implementation results indicate that the travel distance difference between the two algorithms is relatively small, while the roll reduction performance of RRS remains consistently maintained. The integration of Dijkstra, TEB, ILOS, and RRS produces a USV navigation system that is adaptive, efficient, and stable in the presence of dynamic obstacles and aquatic environmental disturbances.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	USV, Dijkstra, Binary heap Priority queue, Time elastic band, G2CBS, ILOS, Rudder Roll Stabilization, Perencanaan Jalur, Penghindaran Rintangan USV, Dijkstra, Binary heap Priority queue, Time elastic band, G2CBS, ILOS, Rudder Roll Stabilization, Path planning, Obstacle avoidance
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Muhammad Farrel Aulia
Date Deposited:	23 Jul 2026 09:19
Last Modified:	23 Jul 2026 09:19
URI:	http://repository.its.ac.id/id/eprint/136535

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