Pengaturan Kemudi Kendaraan Otonom Four Wheel Steer dan Four Wheel Drive (4WS4WD) Menggunakan Model Predictive Control

Amiruddin, Brilian Putra (2021) Pengaturan Kemudi Kendaraan Otonom Four Wheel Steer dan Four Wheel Drive (4WS4WD) Menggunakan Model Predictive Control. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Riset dan perkembangan kendaraan otonom yang semakin masif memberikan tantangan baru pada permasalahan pengaturan kendaraan otonom itu sendiri. Salah satu model kendaraan yang sering digunakan karena terkenal akan kemampuan manuvernya adalah model 4WS4WD. Salah satu permasalahan pengaturan yang berpengaruh signifikan pada keotonoman kendaraan adalah sistem pengaturan kemudinya. Pengaturan kemudi ini memegang peranan penting dalam beberapa skenario misalnya perubahan lajur dan pelacakan jalur. Pada penelitian ini, algoritma kontrol Model Predictive Control (MPC) dirancang untuk mengatur kemudi dari kendaraan otonom model 4WS4WD. Dari hasil percobaan dengan beberapa skenario diperoleh bahwa kontroler kemudi yang dirancang memiliki nilai IAE dan RMSE terendah ketika Np = 6 dan Nc = 5 dengan rata-rata nilai 706.32 dan 0.0296, masing-masing. ===================================================================================================== The massive research and development of autonomous vehicles present new challenges to the problems of controlling autonomous vehicles themselves. One of the vehicle models that is often used because it is known for its maneuverability is the 4WS4WD model. One of the control problems that have a significant effect on the autonomy of a vehicle is the steering control system. This steering control plays an important role in several scenarios of lane change and path tracking. In this study, the Model Predictive Control (MPC) control algorithm was designed to control the steering wheel of an autonomous 4WS4WD model. From the experimental results with several scenarios, it is obtained that the designed controller is having lowest IAE and RMSE when Np = 6 and Nc =5 with the averaged value of 706.32 and 0.0296, respectively.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: model predictive control, autonomous vehicles, 4WS4WD model, steering control
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ217.6 Predictive Control
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: Brilian Putra Amiruddin
Date Deposited: 24 Feb 2021 23:03
Last Modified: 24 Feb 2021 23:03
URI: https://repository.its.ac.id/id/eprint/82791

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