Saharani, Shania (2025) Perancangan Sistem Kendali Collision Avoidance Berbasis ANFIS Dengan Mempertimbangkan Gangguan Arus Laut Pada MV Habco Pioneer Di Perairan Utara Indramayu. Other thesis, Institut Teknologi Sepuluh Nopember.
![[thumbnail of 5009211034-Undergraduate_Thesis.pdf]](http://repository.its.ac.id/style/images/fileicons/text.png) |
Text
5009211034-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only Download (2MB) | Request a copy |
Abstract
Perairan utara Indramayu merupakan jalur pelayaran yang padat dan berisiko tinggi terhadap kecelakaan laut. Salah satu penyebab utama kecelakaan adalah keterlambatan manuver penghindaran tabrakan akibat keterbatasan sistem navigasi konvensional yang masih bergantung pada operator manusia. Penelitian ini bertujuan untuk merancang sistem kendali otomatis penghindaran tabrakan berbasis Adaptive Neuro-Fuzzy Inference System (ANFIS) pada MV Habco Pioneer, dengan mempertimbangkan pengaruh gangguan arus laut. Metode yang digunakan mencakup pemodelan dinamika kapal dalam 3 derajat kebebasan (3-DOF), pemodelan sistem propulsi dan kemudi, serta perancangan dua sistem kendali ANFIS, yaitu kendali kecepatan dan kendali haluan. Sistem menerima masukan berupa Time to Closest Point of Approach (TCPA), error kecepatan, error yaw, dan yaw rate, untuk menghasilkan sinyal kendali berupa putaran mesin (RPM) dan sudut kemudi (rudder angle). Simulasi dilakukan dalam tiga skenario: pelayaran normal, penghindaran tabrakan tanpa gangguan, dan penghindaran tabrakan dengan gangguan arus laut. Hasil simulasi menunjukkan bahwa sistem mampu mengikuti lintasan referensi dengan rata-rata error posisi sebesar 2.4 m, jauh di bawah ambang toleransi IMO sebesar 81.9 m, yang setara dengan 0.5 × panjang kapal antara garis tegak (Lbp). Sistem juga berhasil melakukan manuver penghindaran yang sesuai dengan aturan COLREGs serta menjaga kestabilan lintasan meskipun terdapat gangguan lingkungan.
=====================================================================================================================================
The northern waters of Indramayu are a densely trafficked maritime route with a high risk of marine accidents. One of the main causes of such accidents is the delayed execution of collision avoidance maneuvers due to the limitations of conventional navigation systems that still rely heavily on human operators. This study aims to design an automatic collision avoidance control system based on the Adaptive Neuro-Fuzzy Inference System (ANFIS) for the MV Habco Pioneer, considering the influence of ocean current disturbances. The methodology includes modeling the ship’s dynamics in three degrees of freedom (3-DOF), modeling of propulsion and rudder systems, and designing two ANFIS-based controllers: one for speed control and another for heading control. The system uses inputs such as Time to Closest Point of Approach (TCPA), speed error, yaw error, and yaw rate, to generate control signals in the form of engine RPM and rudder angle. Simulations were carried out in three scenarios: normal navigation, collision avoidance without disturbances, and collision avoidance under ocean current disturbances. The simulation results show that the system can follow the reference path with an average position error of 2.4 meters, significantly below the IMO tolerance threshold of 81.9 meters (equivalent to 0.5 × Lpp of the vessel). The system also successfully performs avoidance maneuvers compliant with COLREGs rules and maintains trajectory stability despite environmental disturbances.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | ANFIS, arus laut, collision avoidance, MV Habco Pioneer, navigasi kapal, TCPA, ANFIS, ocean current disturbance, collision avoidance, MV Habco Pioneer, ship navigation, TCPA |
| Subjects: | Q Science > QA Mathematics > QA76.87 Neural networks (Computer Science) Q Science > QA Mathematics > QA9.64 Fuzzy logic |
| Divisions: | Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis |
| Depositing User: | Shania Saharani |
| Date Deposited: | 05 Aug 2025 07:00 |
| Last Modified: | 05 Aug 2025 07:00 |
| URI: | http://repository.its.ac.id/id/eprint/127340 |
Actions (login required)
 |
View Item |