Hafiyyan, Naufan (2020) Perancangan Sistem Pemanduan Unmanned Surface Vehicle untuk Obstacle Avoidance Menggunakan Fuzzy Logic Control. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Sistem kemudi otomatis merupakan suatu hasil perkembangan teknologi yang dapat diterapkan pada alat transportasi baik di darat, laut, maupun udara. Unmanned Surface Vehicle (USV) merupakan salah satu bentuk penerapan dari teknologi sistem kemudi otomatis pada kendaraan laut. Unmanned Surface Vehicle (USV) merupakan alat transportasi laut yang beroperasi tanpa perlu campur tangan manusia dalam operasinya. Untuk menunjang operasi kapal tanpa awak, diperlukan sistem pemanduan yang memiliki kemampuan menghindari halangan. Pada penelitian ini akan dibahas mengenai sistem pemanduan Unmanned Surface Vehicle (USV) menggunakan algoritma Fuzzy Logic Control untuk menghindari halangan yang ada. Fuzzy Logic Control memiliki aturan-aturan yang berguna untuk mengambil keputusan guna mengaktifkan sistem obstacle avoidance. Untuk menguji keandalan sistem, dilakukan simulasi di aplikasi MATLAB. Pada pengujian yang dilakukan di penetilian ini didapatkan bahwa sistem dalam menghindari halangan dalam lintasan yang telah disimulasikan dengan jarak paling dekat sebesar 15,84 meter di mana nilainya lebih besar dari jarak minimum yang telah ditentukan (13 meter) dengan kondisi jarak aman ideal untuk mengaktifkan Fuzzy Logic Control sebesar 20 meter.
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Autopilot system is a technology innovation that has been applied in various autopilot vehicle. Unmanned Surface Vehicle is one of the implementation form of naval vehicle using autopilot system, without using any manual control crew in its operation. To support the autopilot operation, it needs a guidance system that have the ability to avoid obstacles. This research be reviewing the guidance system of Unmanned Surface. The guidance system is designed to perform obstacle avoidance. Unmanned Surface Vehicle uses Fuzzy Logic Control algorithm to avoid the obstacles that detected by the obstacle detection system. The Fuzzy Logic Control Algorithm uses the rules to create decisions that will create the decision for obstacle avoidance. For the purposes of system validation a simulation will be performed using MATLAB software. The system in this research was able to avoid the obstacle properly in many trials with 15,84 meter as the minimum distance from USV to obstacle detected which was considered as a success trial because it surpassed the safety distance limit (13 meter) and the system performed well when the distance that triggered Fuzzy Logic Control set into 20 meter.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | USV, Pemanduan, Obstacle Avoidance, Fuzzy Logic Control |
| Subjects: | Q Science > QA Mathematics > QA9.64 Fuzzy logic V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles. |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Naufan Hafiyyan |
| Date Deposited: | 21 Aug 2020 04:45 |
| Last Modified: | 06 Jun 2023 07:08 |
| URI: | http://repository.its.ac.id/id/eprint/78089 |
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