Implementasi Algoritma Interfered Fluid Dynamical System untuk Perencanaan Jalur dan Penghindaraan Rintangan Menggunakan Fuzzy D.O.A pada USV

Yudonoputra, Prawira Abel (2026) Implementasi Algoritma Interfered Fluid Dynamical System untuk Perencanaan Jalur dan Penghindaraan Rintangan Menggunakan Fuzzy D.O.A pada USV. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Unmanned Surface Vehicle (USV) memerlukan sistem navigasi yang mampu merencanakan lintasan, mengikuti jalur, dan menghindari rintangan secara aman di perairan dinamis. Arsitektur yang hanya mengandalkan perencanaan dan pelacakan jalur tanpa penghindaran rintangan lokal belum menjamin keselamatan terhadap rintangan dinamis sehingga berpotensi menimbulkan tabrakan. Untuk mengatasinya, penelitian ini mengimplementasikan Interfered Fluid Dynamical System (IFDS) sebagai global path planner, Adaptive Integral Line-of-Sight (Adaptive ILOS) sebagai guidance, PID sebagai pengendali, dan Fuzzy Dynamic Obstacle Avoidance (Fuzzy DOA) untuk penghindaran rintangan lokal pada USV LSS-01, yang divalidasi melalui simulasi MATLAB dan pengujian di Kolam InfinITS ITS. Pada simulasi, IFDS mencapai clearance minimum 0,58 m, Adaptive ILOS menghasilkan cross-track error maksimum 0,49 m, dan Fuzzy DOA menghindari rintangan dinamis dengan jarak minimum 0,64 m tanpa tabrakan, tanpa Fuzzy DOA sistem melanggar batas aman (clearance -0,24 m). Pengujian lapangan menunjukkan USV mencapai seluruh waypoint dan tujuan (67,46 m dalam 90,6 s, clearance 1,07 m). Hasil ini menunjukkan integrasi keempat metode meningkatkan keselamatan navigasi terhadap rintangan dinamis tanpa mengorbankan keberhasilan misi, sehingga USV dapat dioperasikan secara otonom untuk misi survei dan patroli secara real-time.
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Unmanned Surface Vehicles (USV) require navigation systems capable of path planning, path following, and safe obstacle avoidance in dynamic waters. Architectures relying solely on path planning and tracking without local obstacle avoidance fail to guarantee safety against dynamic obstacles, creating a potential risk of collision. To address this, this study implements an Interfered Fluid Dynamical System (IFDS) for global path planning, Adaptive Integral Line-of-Sight (Adaptive ILOS) for guidance, a PID controller, and Fuzzy Dynamic Obstacle Avoidance (Fuzzy DOA) on the LSS-01 USV, the system was validated through MATLAB simulations and testing in the ITS InfinITS Pool. Simulation results showed that IFDS achieved a minimum clearance of 0.58 m, Adaptive ILOS produced a maximum cross-track error of 0.49 m, and Fuzzy DOA successfully avoided dynamic obstacles with a minimum clearance of 0.64 m without collisions—whereas, without Fuzzy DOA, the system violated safety limits (resulting in a clearance of -0.24 m). Field tests demonstrated that the USV successfully reached all waypoints and the final destination (covering 67.46 m in 90.6 s with a clearance of 1.07 m). These results indicate that integrating these four methods enhances navigation safety regarding dynamic obstacles without compromising mission success, thereby enabling the USV to operate autonomously for real-time survey and patrol missions.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	USV, IFDS, Adaptive ILOS, Fuzzy DOA, Navigasi Otonom, USV, IFDS, Adaptive ILOS, Fuzzy DOA, Autonomous Navigation
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK6592.A9 Automatic tracking.
Divisions:	Faculty of Electrical Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Prawira Abel Yudonoputra
Date Deposited:	27 Jul 2026 08:32
Last Modified:	27 Jul 2026 08:32
URI:	http://repository.its.ac.id/id/eprint/138248

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