Putri, Dila Marta (2022) Pencarian Jalur Terpendek Pada 3d Visibility Roadmap Dengan Penghalusan Jalur Berdasarkan Kemampuan Manuver Fixed-Wing. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Penelitian ini membahas perencanaan jalur untuk fixed-wing pada lingkungan 3D statis. Lingkungan perkotaan seperti gedung-gedung yang berbentuk kubus diadaptasi untuk merepresentasikan lingkungan 3D. Algoritma visibility roadmap merupakan algoritma yang digunakan untuk membuat lingkungan 3D pada penelitian ini. Algoritma ini menyediakan node dan edge yang digunakan oleh Theta* sebagai algoritma pencari jalur terpendek setelah diberikan koordinat awal dan tujuan di lingkungan 3D. Jalur terpendek yang didapatkan akan dihaluskan menggunakan metode perencanaan smoothing path berbasis Bézier curve yang memenuhi batasan yang diusulkan, yaitu berdasarkan koridor keselamatan dan kemampuan manuver dari fixed-wing. Hasil metode ini akan dibandingkan dengan penelitian sebelumnya dengan menerapkan kriteria komparatif yang relevan. Smoothing path yang dihasilkan diuji dengan menerbangkan fixed-wing pada jalur tersebut. Hasil simulasi menunjukkan bahwa metode yang diusulkan lebih aman dibandingkan metode sebelumnya dengan jarak terkecil ke halangan sebesar 4.73 m dan jalur tersebut dapat dilalui oleh fixed-wing secara akurat.
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This research discusses path planning for fixed-wing in a static 3D environment. Urban environments such as cube-shaped buildings are adapted to represent 3D environments. The visibility roadmap algorithm is the algorithm used to create a 3D environment in this research. This algorithm provides nodes and edges which are used by Theta* as the shortest pathfinding algorithm after being given the initial and destination coordinates in a 3D environment. The shortest path obtained will be smoothed using a Bézier curve-based smoothing path planning method that meets the proposed constraints, namely based on the safety corridor and maneuverability of the fixed-wing. The results of this method are compared with previous studies by applying the relevant comparative criteria. The resulting smoothing path is tested by flying a fixed-wing on the path. The simulation results show that the proposed method is safer than the previous method with the smallest distance to the obstacle of 4.73 m and the path can be traversed by fixed-wing accurately.
| Item Type: | Thesis (Masters) |
|---|---|
| Uncontrolled Keywords: | Theta*, fixed-wing, Bézier curve, manuver, visibility roadmap, Theta*, fixed-wing, Bézier curve, maneuver, visibility roadmap. |
| Subjects: | U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle) |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Dila Marta Putri |
| Date Deposited: | 31 Jan 2022 06:39 |
| Last Modified: | 04 Jul 2024 08:05 |
| URI: | http://repository.its.ac.id/id/eprint/92599 |
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