Suryadarma, Muhammad Ikhsan (2025) Analisis Performa Sistem Kendali Autonomous Berbasis Cable Path-Following Pada Hybrid Control Underwater Vehicle Dengan Simulasi 3D. Masters thesis, Insititut Teknologi Sepuluh Nopember.
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Abstract
Fasilitas infrastruktur kabel bawah laut di Indonesia belum tertata dengan baik, sehingga rawan akan kerusakan akibat kurangnya kesadaran akan lokasi serta kondisi di sekitar kabel. Selain itu, kabel juga diperlukan pemantauan dan pemeliharaan untuk mencegah kerusakan. Pengembangan Hybrid Controlled Underwater Vehicle (HCUV) yang yang memiliki kemampuan semi-autonomous memberikan manfaat finansial dan operasional yang baik bagi pekerjaan survey dan inspeksi untuk kabel bawah laut. Akan tetapi, dengan kondisi bawah laut yang tidak memiliki sistem Global Positioning System (GPS) berbasis satelit, alternatif sensor kamera sebagai sistem autonomous memiliki potensi, terutama karena mahalnya sesnor berbasis akustik. Oleh karena itu dikembangkan sistem autonomous didasarkan visi komputer dari kamera untuk dapat mendeteksi sehingga menjadi sebuah jalur untuk HCUV. Sistem kendali Sliding Mode Controller dan PID akan digunakan dan dibandingkan untuk mengetahui kesesuaian terhadap sistem autonomous. Agar dapat mengevaluasi performa sistem kendali yang dibuat, digunakan simulasi berbasis lingkungan 3D yang dapat menghasilkan gambar realistis sehingga memungkinkan untuk menguji dan memvalidasi sistem navigasi dan kendali autonomous berbasis visual. Hasil simulasi menunjukkan bahwa sistem kendali SMC dapat memberikan gerakan yang lebih halus, serta efisien dibandingkan sistem kendali PID yang cenderung agresif sehingga menjadikan SMC pilihan yang lebih unggul pada skenario survey dan deteksi kabel yang telah dibuat
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Underwater cable infrastructure facilities in Indonesia are not yet well organized, making them prone to damage due to a lack of awareness of the location and conditions around the cables. In addition, cables also require monitoring and maintenance to prevent damage. The development of a Hybrid Controlled Underwater Vehicle (HCUV) with semi-autonomous capabilities provides good financial and operational benefits for underwater cable survey and inspection work. However, given the absence of a satellite-based Global Positioning System (GPS) in underwater environments, camera-based sensors as an autonomous system have potential, particularly due to the high cost of acoustic-based sensors. Therefore, an autonomous system based on computer vision from cameras has been developed to detect and establish a path for the HCUV. Sliding Mode Controller and PID control systems will be used and compared to assess their suitability for the autonomous system. To evaluate the performance of the developed control system, a 3D environment-based simulation was used to generate realistic images, enabling testing and validation of the visual-based autonomous navigation and control system. Simulation results show that the SMC control system provides smoother and more efficient movement compared to the PID control system, which tends to be aggressive, making SMC the superior choice for the survey and cable detection scenarios developed.
| Item Type: | Thesis (Masters) |
|---|---|
| Uncontrolled Keywords: | Hybrid Controlled Underwater Vehicle, Sistem Kendali, Cable Tracking, Visi Komputer, Simulasi, Hybrid Controlled Underwater Vehicle, Control System, Cable Tracking, Computer Vision, Simulation |
| Subjects: | V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles. |
| Divisions: | Faculty of Marine Technology (MARTECH) > Naval Architecture and Shipbuilding Engineering > 36101-(S2) Master Thesis |
| Depositing User: | Muhammad Ikhsan Suryadarma |
| Date Deposited: | 05 Aug 2025 08:29 |
| Last Modified: | 05 Aug 2025 08:29 |
| URI: | http://repository.its.ac.id/id/eprint/127223 |
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