Al Farros, Mohammad Naufal (2024) Perancangan Sistem Indoor Localization Pada Quadcopter Berbasis Kamera dan LiDAR Sensor Menggunakan Kendali Fuzzy-Sliding Mode Control. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Pada gudang penyimpanan barang, banyak resiko kecelakaan kerja yang sering timbul apabila tidak adanya pengendalian resiko dalam keselamatan pekerja. Penerapan sistem autonomous pada quadcopter diharapkan mampu mengurangi risiko kecelakaan kerja serta mempercepat proses pencarian barang. Hal ini dimungkinkan karena quadcopter dapat melakukan manuver yang presisi dan mengatasi keterbatasan jarak pandang pilot. Namun, dalam implementasinya, sistem autonomous tidak dapat berjalan dengan semestinya. Oleh karena itu, perlu adanya sensor Lidar dan Kamera untuk melokalisasi ruangan pada quadcopter. Pada sistem autonomous, diperlukan kontrol yang mampu mengatur sistem agar beroperasi tanpa campur tangan pilot. Untuk itu, digunakan kendali Fuzzy-Sliding Mode Control untuk mengatasi efek chattering yang sering muncul akibat respon kontrol yang sangat cepat. Dalam hal ini, kontrol Fuzzy berfungsi sebagai tuning parameter pada Sliding Mode Control, sementara Sliding Mode Control bekerja sebagai kontrol utama untuk menjaga kestabilan sistem. Dalam proses penelitian ini, meliputi desain dan pengujian sistem indoor localization serta implementasi kontrol Fuzzy-Sliding Mode Control. Hasil pengujian menunjukkan bahwa sistem yang dikembangkan memiliki tingkat akurasi yang tinggi dengan nilai error berkisar antara 0 hingga 4.044%. Hasil ini menunjukkan bahwa kombinasi kedua sensor yang didukung oleh kontrol parallel Fuzzy-SMC efektif dalam meningkatkan kinerja dan keandalan sistem autonomous pada quadcopter. Secara keseluruhan, penelitian ini membuktikan bahwa penggunaan teknologi sensor dan metode kontrol yang tepat dapat meningkatkan efisiensi operasi quadcopter secara autonomous dalam ruangan.
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In a goods storage warehouse, there are many risks of work accidents that often arise if there is no risk control in worker safety. The application of an autonomous system on a quadcopter is expected to reduce the risk of work accidents and speed up the process of finding goods. This is possible because the quadcopter can perform precise maneuvers and overcome the limited visibility of the pilot. However, in its implementation, the autonomous system cannot run properly. Therefore, it is necessary to have Lidar and Camera sensors to localize the room on the quadcopter. In the autonomous system, a control is needed that is able to manage the system to operate without the intervention of the pilot. For this reason, Fuzzy-Sliding Mode Control is used to overcome the chattering effect that often arises due to the very fast control response. In this case, Fuzzy control serves as a tuning parameter for Sliding Mode Control, while Sliding Mode Control works as the main control to maintain system stability. This research process includes the design and testing of an indoor localization system and the implementation of Fuzzy-Sliding Mode Control. The test results show that the developed system has a high level of accuracy with error values ranging from 0 to 4.044%. These results show that the combination of both sensors supported by parallel Fuzzy-SMC control is effective in improving the performance and reliability of the autonomous system.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Autonomous, Fuzzy, Indoor localization, Sliding Mode Control, Quadcopter. |
| Subjects: | T Technology > T Technology (General) T Technology > T Technology (General) > T11 Technical writing. Scientific Writing T Technology > T Technology (General) > T57.62 Simulation T Technology > T Technology (General) > T57.83 Dynamic programming |
| Divisions: | Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis |
| Depositing User: | Mohammad Naufal Al Farros |
| Date Deposited: | 26 Jul 2024 06:02 |
| Last Modified: | 26 Jul 2024 06:02 |
| URI: | http://repository.its.ac.id/id/eprint/109152 |
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