Maynad, Vincentius Charles (2022) Kontrol Formasi Kooperatif Dan Penghindaran Rintangan Pada Multiple Unmanned Aerial Vehicle Dengan Guidance Route Dan Artificial Potential Field. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Dalam beberapa tahun terakhir, kontrol kooperatif sistem multi-UAV (Unmanned Aerial Vehicle) telah menjadi topik penelitian yang hangat di bidang kontrol penerbangan. Diantaranya, pengendalian formasi dan penghindaran rintangan adalah salah dua tema yang penting untuk diteliti karena kompleksitas kondisi permasalahan yang ingin diselesaikan selalu meningkat seiring waktu. Problema riil ini dapat dimodelkan sebagai permasalahan kontrol penghindaran rintangan pada formasi quadcopter. Sekelompok quadcopter ditugaskan untuk membentuk formasi (berupa bentuk V), bergerak dalam formasi menuju titik tujuan, menghindari tabrakan antar robot, dan menghindari tabrakan dengan rintangan. Model quadcopter yang digunakan adalah Quanser Qdrone dengan enam derajat kebebasan. Quadcopter dikontrol menggunakan fuzzy state feedback controller untuk melacak tujuan. Pada tugas akhir ini dirancang suatu sistem pengaturan formasi menggunakan pendekatan guidance route dengan penghindaran rintangan menggunakan metode Artificial Potential Field (APF). Selain itu, akan dibandingkan dua strategi penghindaran, penghindaran total dan penghindaran minimal. Berdasarkan hasil simulasi, algoritma kontrol yang dikembangkan berhasil melaksanakan tugas pengaturan formasi dan penghindaran rintangan pada sekelompok quadcopter. Hal ini dibuktikan dengan rata-rata indeks performansi formasi bernilai 0.800025 untuk strategi penghindaran total dan 1.2227125 untuk strategi penghindaran minimal serta trayektori masing-masing quadcopter yang bebas tabrakan
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In recent years, cooperative control of multi-UAV (Unmanned Aerial Vehicle) systems has become a hot research topic in the field of flight control. Among them, formation control and obstacle avoidance are two important themes to study because the complexity of the problem conditions to be solved always increases with time. This real problem can be modeled as an obstacle avoidance control problem in a quadcopter formation. A group of quadcopters is assigned to form a formation (in the form of a V shape), move in formation towards a destination point, avoid collisions between robots, and avoid collisions with obstacles. The quadcopter model used is the Quanser Qdrone with six degrees of freedom. The quadcopter is controlled using a fuzzy state feedback controller to track objectives. In this final project, a formation management system is designed using the guidance route approach with obstacle avoidance using the Artificial Potential Field (APF) method. Moreover, two avoidance strategies will be compared, total avoidance and minimum avoidance. Based on the simulation results, the developed control algorithm successfully performs the task of setting formation and obstacle avoidance on a group of quadcopters. This is evidenced by the average formation performance index of 0.800025 for total avoidance strategy and 1.2227125 for minimum avoidance strategy with the collision-free trajectories of each quadcopter
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Artificial Potential Field, Formation Control, Guidance Route, Obstacle Avoidance |
| Subjects: | T Technology > T Technology (General) T Technology > T Technology (General) > T57.8 Nonlinear programming. Support vector machine. Wavelets. Hidden Markov models. T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL776 .N67 Quadrotor helicopters--Automatic control |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Vincentius Charles Maynad |
| Date Deposited: | 01 Feb 2023 07:12 |
| Last Modified: | 01 Feb 2023 07:12 |
| URI: | http://repository.its.ac.id/id/eprint/95965 |
Available Versions of this Item
- Kontrol Formasi Kooperatif Dan Penghindaran Rintangan Pada Multiple Unmanned Aerial Vehicle Dengan Guidance Route Dan Artificial Potential Field. (deposited 01 Feb 2023 07:12) [Currently Displayed]
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