Putri, Dian Kusuma Rahma (2016) Kendali Sudut Kemudi Pada Mobil Untuk Pelacakan Lintasan Dubins Dengan Menggunakan Model Predictive Control. Undergraduate thesis, Institut Technology Sepuluh Nopember.
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Abstract
Mobil sebagai salah satu alat transportasi tentu tidak
luput dari perkembangan teknologi. Sekitar sepuluh tahun
terakhir banyak dilakukan penelitian dan pengembangan
tentang lane keeping system (LKS) yang merupakan sistem
yang secara otomatis mengendalikan kemudi untuk menjaga
agar kendaraan khususnya mobil selalu berada pada jalur.
LKS tersebut dapat terus dikembangkan untuk mobil nir
awak. Mobil nir awak membutuhkan sistem navigasi,
panduan dan kendali yang mampu mengarahkan kendaraan
bergerak menuju tujuan yang diinginkan. Sistem panduan
direpresentasikan menggunakan Lintasan Dubins yang akan
dikendalikan dengan menggunakan Model Predictive Control.
Tujuan pengendalian tersebut adalah menjaga pergerakan
mobil yang direpresentasikan dengan model dinamik gerak
lateral sehingga mobil bergerak sesuai dengan sistem panduan
yang diberikan. Selanjutnya dilakukan simulasi menggunakan
software MATLAB untuk mengetahui pengaruh jenis lintasan
dan pengaruh besar horizon prediksi terhadap hasil kendali.
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Car as one of transportation is inseparable from
technological developments. About ten years a lot of research
and development on lane keeping systems (LKS), which is
a system that automatically controls the steering to keep the
car in particular vehicle always on track. This system can be
developed for unmanned cars. Unmanned car system requires
navigation, guidance and control which is able to direct the
vehicle to move towards the desired path. The guidance system
is represented by using Dubins-Path that will be controlled
by using Model Predictive Control. The control objective
is to keep the car's movement that represented by dynamic
lateral motion model so car can move according to the path
appropriately. Then simulations were carried out using the
software MATLAB to study the e�ect of the trajectory's type
and the value of prediction horizon on the results of control.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSMa 514.224 Put k |
| Uncontrolled Keywords: | Kendali Sudut Kemudi Mobil, Lintasan Dubins, Pelacakan Lintasan, Model Predictive Control (MPC) |
| Subjects: | Q Science > QA Mathematics |
| Divisions: | Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44201-(S1) Undergraduate Thesis |
| Depositing User: | Mr. Tondo Indra Nyata |
| Date Deposited: | 03 Mar 2020 06:43 |
| Last Modified: | 03 Mar 2020 06:43 |
| URI: | http://repository.its.ac.id/id/eprint/75272 |
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