Kontrol Linear Quadratic (LQ) untuk Quadcopter dengan Penghindaran Halangan Dinamis Menggunakan Artificial Potential Field

Fara, Firsta Secta Septi Via (2025) Kontrol Linear Quadratic (LQ) untuk Quadcopter dengan Penghindaran Halangan Dinamis Menggunakan Artificial Potential Field. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Quadcopter banyak dikembangkan karena memiliki kemampuan untuk melakukan vertical take-off/landing (VTOL), hover, dan dapat melakukan gerakan yang lincah. Quadcopter biasa digunakan dalam aktivitas SAR, inspeksi infrastruktur, serta pertanian. Penggunaan quadcopter yang masif membuat faktor keselamatan menjadi perhatian agar mengurangi kecelakaan akibat tabrakan. Untuk itu, suatu sistem yang dapat melakukan penghindaran objek statis dan dinamis menjadi kemajuan yang sangat diperlukan. Kemampuan ini didapatkan melalui sistem perencanaan jalur pada quadcopter salah satunya dengan metode Artificial Potential Field (APF). Metode ini digunakan karena bersifat responsif namun memiliki kelemahan yaitu tidak mempertimbangkan dinamika sistem. Pada penelitian ini APF dipadukan dengan controller Linear Quadratic (LQ) agar quadcopter dapat melewati rintangan statis dan dinamis menuju target. Quadcopter disimulasikan pada lingkungan dengan rintangan statis kemudian dinamis agar melihat kemampuan APF dalam penghindaran rintangan. Hasil simulasi menunjukkan metode ini mampu menghindari rintangan statis namun belum dapat menghindari rintangan dinamis.
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Quadcopters have been widely developed due to their ability to perform vertical take-off and landing (VTOL), hovering, and agile maneuvers. They are commonly used in search and rescue (SAR) missions, infrastructure inspection, and agricultural applications. The massive deployment of quadcopters raises safety concerns, particularly in reducing accidents caused by collisions. Therefore, a system capable of avoiding both static and dynamic obstacles is considered an important advancement. This capability can be achieved through a path-planning system, one of which is the Artificial Potential Field (APF) method. APF is selected due to its responsive behavior and low computational complexity, but it has a limitation that it does not explicitly consider system dynamics. In this study, APF is combined with a Linear Quadratic (LQ) controller to enable the quadcopter to navigate toward the target while avoiding static and dynamic obstacles. The quadcopter is simulated in environments containing static obstacles, followed by dynamic obstacles, to evaluate the obstacle avoidance performance of the APF-based system. The simulation results show that the proposed method is able to successfully avoid static obstacles but has not yet been able to effectively avoid dynamic obstacles.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Artificial Potential Field, Linear Quadratic Regulator, Obstacle Avoidance, Path Planning, Quadcopter, Artificial Potential Field, Linear Quadratic Regulator, Obstacle Avoidance, Path Planning, Quadcopter.
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL776 .N67 Quadrotor helicopters--Automatic control U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle) U Military Science > U Military Science (General) > UG Military Engineering > UG1242.D7 Unmanned aerial vehicles. Drone aircraft
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Informatics Engineering > 55201-(S1) Undergraduate Thesis
Depositing User:	Firsta Secta Septi Via Fara
Date Deposited:	28 Jan 2026 05:36
Last Modified:	28 Jan 2026 05:37
URI:	http://repository.its.ac.id/id/eprint/130766

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