Trajectory Tracking Pada Mobil Autonomous Menggunakan Prediction Control Dengan Referensi Waktu

Priambudi, Renardi Adryantoro (2023) Trajectory Tracking Pada Mobil Autonomous Menggunakan Prediction Control Dengan Referensi Waktu. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pengaturan pada kendaraan self-driving khusus nya pada topic trajectory tracking sangat banyak dikembangkan oleh civitas akademisi. Pada kasus ini penulis coba menyelesaikan permasalahan trajectory tracking menggunakan pendekatan non-linear yang memiliki batasan waktu tempuh. Pada penelitan ini akan dibentuk time mission control diaman didalamnya terdapat kontrol lateral dan kontrol longitudinal. Kontrol longitudinal dibentuk menggunakan Bezier curve yang akan membentuk local path baru pada saat ingin mendahului mobil lain.
Kontrol lateral dibentuk dari gabungan velocity profile dan adaptive cruise control yang akan mengatur kecepatan mobil. Mobil autonomous juga harus memenuhi time mission, dimana mobil akan bergerak dengan kecepatan dinamis dengan menyesuaikan waktu yang telah ditentukan serta kondisi lalu lintas yang ada. Kontrol trejektori menggunakan PID, Mobil akan diamati hanya terhadap jalan yang dilaluinya. Hasil yang diamati adalah visual path yang dibentuk dari mobil
autonomous pada saat bergerak dengan referensi global path dan error waktu tempuhnya.
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The development of self-driving vehicles, particularly in the field of trajectory tracking, has been extensively explored by academia. In this case, the author attempts to address the trajectory tracking issue using a nonlinear approach with a time constraint. This research focuses on implementing a time mission control system that incorporates both lateral and longitudinal control. The longitudinal control is established using a Bezier curve, which creates a new local path when overtaking other vehicles. The lateral control is a combination of a velocity profile and adaptive cruise control, which regulates the vehicle's speed.
The autonomous vehicle must also adhere to the time mission, meaning it moves at a dynamic speed, adjusting to the predetermined time and traffic conditions.
Trajectory control is achieved using a PID controller, with the vehicle's observations limited to the road it is traveling on. The observed results include the visual path formed by the autonomous vehicle in relation to the global path reference and the corresponding travel time error.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	Autonomous, PID, Nonlinear, path planning, Trajectory tracking, Velocity Profile, Otonom, PID, Nonlinier, perencanaan jalur, Pelacakan lintasan, Profil Kecepatan
Subjects:	T Technology > T Technology (General) T Technology > T Technology (General) > T57.8 Nonlinear programming. Support vector machine. Wavelets. Hidden Markov models. T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers T Technology > TL Motor vehicles. Aeronautics. Astronautics T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20101-(S2) Master Thesis
Depositing User:	Renardi Adryantoro Priambudi
Date Deposited:	30 Jul 2023 00:50
Last Modified:	30 Jul 2023 00:50
URI:	http://repository.its.ac.id/id/eprint/99705

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