Putra, Raviv Vio Risa (2026) Implementasi Perencanaan Jalur Global dan Lokal Dengan Probabilistic Roadmap dan Dynamic Window Approach Pada Unmanned Surface Vehicle (USV). Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Perkembangan teknologi robotika telah mendorong inovasi dalam sistem navigasi otonom yang terdiri dari global path planning dan local path planning yang aman, khususnya pada Unmanned Surface Vehicle (USV). Penelitian ini mengusulkan sistem navigasi otonom pada robot USV LSS-01 menggunakan kombinasi Probabilistic Roadmap (PRM) sebagai global path planning dan Dynamic Window Approach (DWA) sebagai local path planning. Kombinasi global dan local path yang digunakan penelitian ini dilakukan uji simulasi menggunakan software MATLAB dan diuji menggunakan parameter USV LSS-01 untuk membuktikan kinerja algoritma dalam 2 skema pengujian yaitu dengan menggunakan global path saja serta menggunakan global dan local path. Hasil pengujian simulasi menunjukkan bahwa pengujian global path menggunakan PRM menghasilkan lintasan yang aman dengan panjang lintasan 50.61 m dan jarak obstacle terdekat selama USV berjalan adalah 1.397 m sedangkan pengujian menggunakan local path DWA menghasilkan panjang lintasan 50.75 m dan jarak obstacle terdekat 0.94 m. Kemudian dilakukan uji implementasi menggunakan Robot Operating System 1 (ROS 1) menggunakan mini PC yang ada pada USV LSS-01 dengan skema pengujian global path saja serta global dan local path. Hasil pengujian menunjukkan USV bermanuver pada lintasan yang aman dengan panjang lintasan pengujian global path 43.7 m dan pengujian global dan local path 48.4 m, pengujian implementasi menghasilkan manuver USV LSS-01 yang aman dan tidak terkena obstacle.
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Advances in robotics technology have driven innovation in autonomous navigation systems, which comprise safe global path planning and local path planning, particularly for Unmanned Surface Vehicles (USV). This research proposes an autonomous navigation system for the USV robot LSS-01 using a combination of the Probabilistic Roadmap (PRM) as the global path planning method and the Dynamic Window Approach (DWA) as the local path planning method. The combination of global and local paths employed in this research was evaluated through simulation testing using MATLAB software with the parameters of the USV LSS-01, in order to verify the algorithm's performance under two testing schemes: using the global path only, and using both the global and local paths. The simulation results show that testing the global path with PRM produced a safe trajectory with a path length of 50.61 m and a nearest-obstacle distance of 1.397 m while the USV was in motion, whereas testing with the DWA local path produced a path length of 50.75 m and a nearest-obstacle distance of 0.94 m. Implementation testing was then conducted using Robot Operating System 1 (ROS 1) on the mini PC installed in the USV LSS-01, employing the global path only scheme as well as the combined global and local path scheme. The results show that the USV maneuvered along a safe trajectory, with a path length of 43.7 m for the global path test and 48.4 m for the combined global and local path test; the implementation testing yielded safe maneuvering of the USV LSS-01 without any obstacle collisions.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Unmanned Surface Vehicle (USV), Probabilistic Roadmap (PRM), Dynamic Window Approach (DWA), Perencanaan Jalur, Unmanned Surface Vehicle (USV), Probabilistic Roadmap (PRM), Dynamic Window Approach (DWA), Path Planning |
| Subjects: | U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle) |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Raviv Vio Risa Putra |
| Date Deposited: | 27 Jul 2026 01:24 |
| Last Modified: | 27 Jul 2026 01:24 |
| URI: | http://repository.its.ac.id/id/eprint/137768 |
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