Perancangan Sistem Landing Otomatis Hexacopter pada Platform Bergerak Menggunakan S-Curve Guidance Berbasis Smart Vision

Musyafa, Arif Huda (2021) Perancangan Sistem Landing Otomatis Hexacopter pada Platform Bergerak Menggunakan S-Curve Guidance Berbasis Smart Vision. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kendaraan Udara Tak Berawak atau yang sering disebut dengan Unmanned Aerial Vehicle (UAV) merupakan suatu kendaraan udara tanpa ada pilot di dalamnya. UAV merupakan suatu bagian dari Unmanned Aircraft System (UAS), yang di dalamnya terdapat UAV, Ground Control Station (GCS), dan sistem komunikasi di antara keduanya. Hexacopter merupakan salah satu UAV memiliki 6 derajat kebebasan. Hexacopter memiliki kemampuan melayang dengan keadaan stationary (hovering), serta lepas landas dan mendarat secara vertikal. Akurasi dari Global Positioning System (GPS) yang rendah, landasan dengan luas yang terbatas, serta turbulensi dari aliran udara, merupakan tantangan dalam proses pendaratan, terlebih lagi dilakukan dengan suatu landasan yang bergerak. Proses pendaratan yang sangat rentan terhadap gangguan tersebut kemudian diujikan menggunakan suatu sistem navigasi berupa Sistem Smart Vision. Selain itu, perilaku UAV ketika mendarat juga perlu diperhatikan sehingga, UAV kemudian dikontrol dengan suatu sistem pemanduan berupa S�Curve Guidance. Perancangan dan pengujian dilakukan dengan bantuan Software Gazebo dan beberapa software lain. Dari hasil pengujian, didapatkan bahwa metode S-Curve Guidance dan Smart Vision bisa digunakan dalam suatu sistem pendaratan. Tingkat akurasi dari perancangan ini adalah sebesar 19,16 cm.
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Unmanned Aerial Vehicle (UAV) is an aerial vehicle without a pilot in it. UAV is a part of Unmanned Aircraft System (UAS), which includes the UAV, Ground Control Station (GCS), dan the communication system between the two. Hexacopter is one of the UAV that has 6 degrees of freedom. Hexacopter can hover in a stationary state (hovering) alsotake off and land vertically. The bad accuracy of the Global Positioning System (GPS), the limited runway area, and the turbulence of the air floware challenges in the landing process, especially when it is done with a moving landing area. The landing process which is very susceptible to interference is then tested using a navigation system in the form of a Smart Vision System. In addition, the behavior of the UAV when landing also needs to be considered so that the UAV is then controlled with a guidance system in the form of S-Curve Guidance. Design and testing are done with the help of Software Gazebo and several other software. From the test results, it was found that the S-Curve Guidance and Smart Vision methods could be used in a landing system. The level of accuracy of this design is 19,16

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Hexacopter, S-Curve Guidance, Vision, Localization, Gazebo, Robot Operating System (ROS)
Subjects:	U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle) U Military Science > U Military Science (General) > UG Military Engineering > UG1242.D7 Unmanned aerial vehicles. Drone aircraft
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Musyafa Arif Huda
Date Deposited:	19 Aug 2021 02:54
Last Modified:	19 Aug 2021 02:54
URI:	http://repository.its.ac.id/id/eprint/88297

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