Analisis Pengaruh Parameter Penerbangan Quadcopter Otonom dan Grid Mapping terhadap Akurasi Pemetaan Daerah Banjir Berbasis Pengolahan Citra Digital

Kencana, Surya Aditya (2026) Analisis Pengaruh Parameter Penerbangan Quadcopter Otonom dan Grid Mapping terhadap Akurasi Pemetaan Daerah Banjir Berbasis Pengolahan Citra Digital. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Bencana banjir yang semakin sering terjadi menuntut adanya sistem pemetaan darurat yang cepat dan akurat. Upaya ini sejalan dengan target pembangunan global untuk mewujudkan kota dan permukiman yang tangguh terhadap bencana (SDG 11) serta aksi penanganan perubahan iklim (SDG 13). Mengingat survei terestrial konvensional sering kali tidak efisien, pemanfaatan wahana udara tanpa awak jenis quadcopter otonom menjadi solusi utama. Penelitian ini bertujuan untuk menganalisis pengaruh parameter penerbangan (ketinggian terbang, kecepatan, pola lintasan) dan grid mapping terhadap akurasi pemetaan daerah banjir. Sistem kendali wahana dirancang menggunakan algoritma PID kaskade untuk mempertahankan stabilitas lintasan dan menjaga kecepatan secara konstan guna memenuhi syarat overlap citra. Untuk pengolahan data visual, algoritma mengekstraksi ruang warna HSV guna membedakan genangan air dengan daratan secara konsisten di bawah fluktuasi cahaya, yang kemudian diproyeksikan ke dalam struktur grid mapping dua dimensi. Penelitian ini mengevaluasi dan menganalisis pengaruh dari masing-masing parameter operasional melalui perbandingan matriks kinerja yang meliputi nilai accuracy, precision, recall, dan F1-score. Hasil pengujian simulasi menunjukkan bahwa kontroler PID sukses mengeksekusi pelacakan trajektori pola Lawnmower dan Expanding Square dengan presisi. Berdasarkan hasil evaluasi, ditemukan bahwa ketinggian terbang memberikan pengaruh yang paling signifikan terhadap kualitas segmentasi visual (berkaitan dengan degradasi resolusi) jika dibandingkan dengan perubahan ukuran grid maupun pola lintasan. Ketinggian 20 meter ditetapkan sebagai parameter operasional paling optimal untuk menyeimbangkan luas area dan detail citra. Evaluasi klasifikasi piksel terhadap referensi Ground Truth membuktikan bahwa sistem ini sangat sensitif dan minim kesalahan deteksi (False Negative). Kalkulasi matriks performa menghasilkan nilai Recall sebesar 94,27%, F1-Score 88,07%, dan tingkat akurasi kumulatif mencapai 93,87%. Sistem pemetaan otonom ini terbukti andal untuk diimplementasikan sebagai instrumen mitigasi bencana yang selaras dengan tujuan pembangunan berkelanjutan.
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The increasing frequency of flood disasters necessitates a rapid and accurate emergency mapping system. This effort aligns with global development targets to create disaster-resilient sustainable cities and communities (SDG 11) and climate action (SDG 13). Since conventional terrestrial surveys are often inefficient, the utilization of autonomous quadcopter Unmanned Aerial Vehicles (UAVs) emerges as a primary solution. This study aims to analyze the impact of flight parameters (altitude, speed, and flight path) and grid mapping on the accuracy of flood area mapping. The vehicle's control system is designed using a cascade Proportional-Integral-Derivative (PID) algorithm to maintain trajectory stability and constant speed to meet image overlap requirements. For visual data processing, the algorithm extracts the HSV color space to consistently distinguish water inundation from dry land under fluctuating lighting, which is then projected into a two-dimensional grid mapping structure. This study evaluates and analyzes the influence of each operational parameter through the comparison of performance metrics including accuracy, precision, recall, and F1-score. Simulation test results indicate that the cascade PID controller successfully executes path tracking for both Lawnmower and Expanding Square patterns precisely. Based on the evaluation, altitude provides the most significant impact on visual segmentation quality (related to resolution degradation) compared to grid size or flight path changes. An altitude of 20 meters is determined as the most optimal operational parameter to balance area coverage and image detail. Pixel classification evaluation against the Ground Truth reference proves that the system is highly sensitive with minimal detection errors (False Negatives). The performance matrix calculation yields a Recall of 94.27%, an F1-Score of 88.07%, and a cumulative accuracy rate of 93.87%. This autonomous mapping system is proven reliable to be implemented as a disaster mitigation instrument that aligns with sustainable development goals.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	grid mapping, HSV, kota berkelanjutan, mitigasi bencana, quadcopter otonom ============================================================ autonomous quadcopter, climate action, grid mapping, HSV, sustainable
Subjects:	T Technology > TA Engineering (General). Civil engineering (General) > TA1637 Image processing--Digital techniques. Image analysis--Data processing. U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle)
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Surya Aditya Kencana
Date Deposited:	04 Aug 2026 07:12
Last Modified:	04 Aug 2026 07:12
URI:	http://repository.its.ac.id/id/eprint/143225

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