Asti, Irfin Sandra (2020) Desain Sistem Navigasi Quadcopter Untuk Menghindari Halangan Dengan Efisiensi Energi Dan Jarak Simpangan Menggunakan Machine Learning. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Penelitian ini membahas tentang sistem navigasi quadcopter untuk mencapai titik tujuan tanpa menabrak halangan. Sistem penghindaran halangan dibuat pada lingkungan 3D. Quadcopter menggunakan proportional-derivative untuk mencapai titik tujuan. Untuk menghindari halangan, waypoint switching diatur dengan cara menambahkan titik hindar sebelum menuju titik target. Terdapat 3 titik hindar yaitu ke atas, kiri dan kanan. Titik hindar dipilih dengan mengklasifikasikan berdasarkan jarak simpangan quadcopter dan energi yang efisien ke titik hindar menggunakan machine learning KNN (K-Nearest-Neighbour). Simulasi menunjukkan bahwa desain sistem yang dirancang dapat membuat quadcopter mencapai titik tujuan tanpa menabrak halangan yang memiliki ukuran bervariasi. Quadcopter juga berhasil menghindari halangan dengan arah hindar yang efisien.
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This research discussed about the quadcopter navigation system to reach the destination point without collide with obstacles. Navigation system created in 3D environment. Quadcopter is controlled to reach the target point using proportional-derivative control method. Obstacle avoidance based on the classification of the deviation distance between quadcopter with obstacle and energy consumption using KNN machine learning. The simulations show that the design of the system can make the quadcopter reach the destination point without collide with obstacles that have varying sizes. The quadcopter can also avoid obstacles with efficient avoidance direction.
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTE 629.133 352 Ast d-1 2022 |
| Uncontrolled Keywords: | Penghindaran Halangan, Navigasi 3D, Efisiensi Energi, Quadcopter, Machine Learning, KNN. |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1007 Electric power systems control |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Asti Irfin Sandra |
| Date Deposited: | 17 Dec 2024 04:45 |
| Last Modified: | 17 Dec 2024 04:45 |
| URI: | http://repository.its.ac.id/id/eprint/73989 |
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