Haqiqi, Briliant Rizqi (2021) Perancangan Sistem Autopilot Dan Guidance Unmanned Surface Vehicle (USV) Dengan Gangguan Menggunakan Fuzzy Logic Sliding Curve. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Salah satu teknologi yang berkembang pesat pada saat ini adalah kendaraan tanpa awak. Unmanned surface vehicle (USV) atau kapal tanpa awak dapat melaju tanpa nakhoda. USV memiliki berbagai macam fungsi seperti sebagai kendaraan dan alat tempur hingga menjadi alat transportasi. Perkembangan USV menjadi kendaraan otonom memerlukan berbagai macam konfigurasi baik dalam menentukan kecepatan, lintasan dan menghindari halangan. Sistem yang dirancang tentu memiliki gangguan eksternal dimana hal tersebut dapat mempengaruhi kestabilan sistem. Adanya perubahan lingkungan yang dapat terjadi dengan berbagai macam kondisi mengakibatkan sistem USV yang perlu dapat beradaptasi. Untuk mengatasi permasalahan tersebut dapat dirancang kontroler cerdas yang stabil. Pada penelitian ini dirancang sistem autopilot dan guidance USV menggunakan Fuzzy Logic Sliding Curve. Dalam menguji hasil perancangan sistem akan dilakukan simulisi menggunakan software MATLAB. Penelitian ini melakukan berbagai macam variasi untuk mendapatkan metode sistem autopilot dan guidance unmanned surface vehicle (USV) yang mampu mencapai waypoint dengan waktu tercepat dan jarak paling pendek.
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One technology that is developing rapidly at this time is unmanned vehicles. Unmanned surface vehicle (USV) or an unmanned ship can go without a captain. USV has a variety of functions such as a vehicle and a combat tool to a means of transportation. The development of the USV into an autonomous vehicle requires a variety of configurations both in determining speed, trajectory and avoiding obstacles. The designed system certainly has external disturbances which can affect the stability of the system. The existence of environmental changes that can occur with various conditions results in the USV system that needs to be able to adapt. To overcome these problems, a stable intelligent controller can be designed. In this study, the USV autopilot and guidance system was designed using a Fuzzy Logic Sliding Curve. In testing the results of system design, simulations will be carried out using MATLAB software. This study carried out various variations to obtain an autopilot and guidance unmanned surface vehicle (USV) system method that was able to reach the waypoint in the fastest time and the shortest distance.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | Unmnanned Surface Vehicle, Autopilot, Guidance, Fuzzy Logic, Sliding Curve |
| Subjects: | T Technology > TE Highway engineering. Roads and pavements > TE228.3 Intelligent transportation systems. |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Briliant Rizqi H |
| Date Deposited: | 03 Sep 2021 02:37 |
| Last Modified: | 07 Nov 2024 01:25 |
| URI: | http://repository.its.ac.id/id/eprint/88260 |
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