Ghani, Rafi Surya (2024) Perancangan Sistem Kendali Multi-Quadcopter dalam Menghindari Obstacle dengan Menggunakan Pengendali Fuzzy-SMC Berdasarkan Navigasi Pembacaan Sensor LiDAR. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Multiquadcopter merupakan jenis Unmanned Aerial Vehicle (UAV) atau drone dengan tanpa adanya pilot di dalamnya atau biasa disebut sebagai pesawat tanpa awak. Salah satu faktor yang kerap menyebabkan kerusakan pada multiquadcopter adalah kegagalan dalam menghindari obstacle yang berada di jalur lintasannya. Hal yang dapat dilakukan guna meminimalisir kegagalan tersebut adalah dengan merancang sistem kendali yang ada pada multiquadcopter. Sistem kendali pada penelitian tugas akhir ini menggunakan controller berupa Fuzzy-SMC yang dikombinasikan dengan penggunaan sensor LiDAR. Adapun algoritma yang digunakan untuk mengoptimalkan pergerakan multiquadcopter dalam menghindari obstacle nantinya adalah Vector Field Histogram. Hasil simulasi menunjukkan bahwasanya pengendali Fuzzy-SMC mampu membuat multiquadcopters menghindari rintangan yang ada dan tetap bergerak sesuai dengan waypoint. Meskipun demikian, penggunaan pengendali Fuzzy-SMC dan algoritma Vector Field Histogram menghasilkan nilai Root Mean Square Error (RMSE) yang bervariasi untuk leader, follower 1, dan follower 2. Secara umum, nilai RMSE pada sumbu Z cenderung lebih kecil dibandingkan sumbu X dan Y.
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Multiquadcopter is a type of Unmanned Aerial Vehicle (UAV) or drone without a pilot on board, commonly known as an unmanned aerial vehicle. One of the factors that often cause damage to multicopters is the failure to avoid obstacles in their flight path. This failure can be minimized by designing a control system for the multicopter. The control system in this final project research uses a Fuzzy-SMC controller combined with a LiDAR sensor. The algorithm used to optimize the multicopter's movement in avoiding obstacles is the Vector Field Histogram. Simulation results show that the Fuzzy-SMC controller enables multicopters to avoid obstacles while still moving according to waypoints. However, the use of the Fuzzy-SMC controller and the Vector Field Histogram algorithm results in varying Root Mean Square Error (RMSE) values for the leader, follower 1, and follower 2. In general, the RMSE values on the Z-axis tend to be smaller than those on the X and Y axes.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Multiquadcopter, Fuzzy, SMC, Obstacle Avoidace |
| Subjects: | 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: | Rafi Surya Ghani |
| Date Deposited: | 26 Jul 2024 08:48 |
| Last Modified: | 26 Jul 2024 08:48 |
| URI: | http://repository.its.ac.id/id/eprint/109162 |
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