Implementasi Perencanaan Lintasan Pada USV Menggunakan D* Lite Dan Penghindaran Rintangan Menggunakan Safe Artificial Potential Field

Mulkus, Hafshoh Atsilah (2026) Implementasi Perencanaan Lintasan Pada USV Menggunakan D* Lite Dan Penghindaran Rintangan Menggunakan Safe Artificial Potential Field. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 5022221006-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only Download (6MB) | Request a copy

Abstract

Pengoperasian USV yang masih bergantung pada kendali manual berisiko menyebabkan tabrakan pada perairan dengan rintangan statis dan dinamis, sehingga dibutuhkan sistem navigasi yang mampu merencanakan lintasan sekaligus menghindari rintangan secara otonom. Penelitian ini merancang dan mengimplementasikan sistem navigasi otonom pada Unmanned Surface Vehicle (USV) LSS-01 yang mengintegrasikan algoritma D* Lite sebagai perencana lintasan global dan Safe Artificial Potential Field (SAPF) sebagai perencana lintasan lokal. Model dinamika 4 DoF USV LSS-01 diperoleh melalui identifikasi parameter dari data pengujian lapangan, kemudian digunakan pada simulasi dengan variasi parameter kedua algoritma, dan sistem diimplementasikan pada perangkat keras USV LSS-01. Pada simulasi perencanaan lintasan global, bobot heuristik wh = 1.5 dipilih karena menghasilkan jarak tempuh paling pendek sebesar 54.75 m dalam durasi 39.1 detik dengan margin keamanan terhadap rintangan statis sebesar 2.144 m, serta mampu melakukan replanning saat terdeteksi rintangan baru. Pada simulasi perencanaan lintasan lokal, kombinasi katt = 4, krep = 8, dan dvort = 4.5 dipilih karena menghasilkan jarak minimum terhadap rintangan dinamis paling besar yaitu 1.774 m dan 2.095 m. Implementasi perencanaan lintasan global di Danau InfinITS berhasil dilaksanakan dengan jarak tempuh 42.743 m dalam durasi 28.211 detik dan jarak minimum terhadap rintangan statis 2.669 m, sedangkan validasi implementasi SAPF belum dapat dilakukan secara penuh akibat keterbatasan akuisisi citra pada sistem kamera. Hasil penelitian menunjukkan bahwa integrasi D* Lite dan SAPF layak digunakan sebagai sistem navigasi otonom USV yang mampu menjalankan misi di perairan secara mandiri.
==========================================================================================================================================
The operation of USV that still rely on manual control carries the risk of collisions in waters with static and dynamic obstacles, thus requiring a navigation system capable of planning a trajectory while autonomously avoiding obstacles. This study designs and implements an autonomous navigation system on the LSS-01 Unmanned Surface Vehicle (USV) that integrates the D* Lite algorithm as a global path planner and the Safe Artificial Potential Field (SAPF) as a local path planner. The 4-DoF dynamic model of the LSS-01 USV was obtained through parameter identification from field test data, it was then used in simulations with variations in the parameters of both algorithms, and the system was implemented on the LSS-01 USV hardware. In the global path planning simulation, the heuristic weight wh = 1.5 was selected because it resulted in the shortest distance traveled of 54.75 m in 39.1 seconds with a safety margin of 2.144 m relative to static obstacles, and was capable of replanning when new obstacles were detected. In the local path planning simulation, the combination of katt = 4, krep = 8, and dvort = 4.5 was selected because it produced the greatest minimum distances from dynamic obstacles, namely 1.774 m and 2.095 m. The implementation of global path planning on Lake InfinITS was successfully carried out with a distance traveled of 42.743 m in 28.211 seconds and a minimum distance from static obstacles of 2.669 m, while full validation of the SAPF implementation could not be performed due to limitations in image acquisition by the camera system. The research results indicate that the integration of D* Lite and SAPF is suitable for use as an autonomous USV navigation system capable of independently carrying out missions in aquatic environments.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	USV, D* Lite, SAPF, navigasi otonom, penghindaran rintangan, USV, D* Lite, SAPF, autonomous navigation, obstacle avoidance
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Hafshoh Atsilah Mulkus
Date Deposited:	24 Jul 2026 20:23
Last Modified:	24 Jul 2026 20:23
URI:	http://repository.its.ac.id/id/eprint/137262

Actions (login required)

View Item