Implementasi Perencanaan Lintasan Pada Unmanned Surface Vehicle LSS-01 Menggunakan Algoritma A* dan Model Predictive Control

Firmansyah, Kevin (2026) Implementasi Perencanaan Lintasan Pada Unmanned Surface Vehicle LSS-01 Menggunakan Algoritma A* dan Model Predictive Control. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Unmanned Surface Vehicle (USV) banyak dimanfaatkan untuk menjalankan tugas berisiko tinggi secara nirawak. Agar USV dapat bermanuver secara otonom mengikuti lintasan menuju waypoint, diperlukan sistem perencanaan lintasan dan kontrol yang mampu menangani dinamika sistem yang kompleks. Penelitian ini merancang dan mengimplementasikan sistem perencanaan lintasan pada USV LSS-01 berbasis model dinamika 4-DOF yang mengintegrasikan algoritma A* dengan penghalusan G2-CBS untuk lintasan global, Integral Line-of-Sight (ILOS) sebagai sistem pemanduan, serta Model Predictive Control (MPC) sebagai kontroler eksekusi sekaligus local path planner. Sistem divalidasi melalui simulasi MATLAB dan pengujian lapangan di Danau 8 ITS. Hasil simulasi menunjukkan lintasan global sepanjang 53.20 meter dengan jarak minimum 1.2809 meter terhadap obstacle statis, sedangkan integrasi global dan lokal dengan konfigurasi Np = 15 dan Nc = 5 menghasilkan RMSE 0.5488 meter dan jarak minimum 0.9114 meter terhadap obstacle dinamis. Pada pengujian lapangan, USV berhasil mencapai seluruh waypoint dan menghindari obstacle statis maupun dinamis tanpa tabrakan, dengan jarak tempuh aktual 51,3 meter (skenario global) dan 40,8 meter (skenario integrasi). Hasil ini menunjukkan bahwa integrasi A*+G2-CBS, ILOS, dan MPC mampu menghasilkan sistem perencanaan lintasan USV yang akurat dan adaptif terhadap obstacle statis maupun dinamis.
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Unmanned Surface Vehicle (USV) are widely used to perform high-risk tasks autonomously. For a USV to maneuver autonomously along a trajectory toward a waypoint, a path planning and control system capable of handling complex system dynamics is required. This research designs and implements a path planning system for the LSS-01 USV based on a 4-DOF dynamic model that integrates the A* algorithm with G2-CBS smoothing for the global path, Integral Line-of-Sight (ILOS) as the guidance system, and Model Predictive Control (MPC) as both the execution controller and local path planner. The system was validated through MATLAB simulations and field testing at Lake 8, ITS. Simulation results showed a global path length of 53.20 meters with a minimum distance of 1.2809 meters from static obstacles, while the integrated global and local configuration (Np = 15, Nc = 5) achieved a position RMSE of 0.5488 meters and a minimum distance of 0.9114 meters from dynamic obstacles. In field testing, the USV successfully reached all waypoints and avoided both static and dynamic obstacles without collision, with actual travel distances of 51.3 meters (global scenario) and 40.8 meters (integrated scenario). These results demonstrate that the integration of A*+G2-CBS, ILOS, and MPC is capable of producing an accurate USV path planning system that is adaptive to both static and dynamic obstacles.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Unmanned Surface Vehicle, Perencanaan Lintasan, Model Predictive Control, Integral Line-of-Sight, A*, G2-CBS.
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:	Kevin Firmansyah
Date Deposited:	27 Jul 2026 06:33
Last Modified:	27 Jul 2026 06:33
URI:	http://repository.its.ac.id/id/eprint/138181

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