Pengaturan Kemudi Kendaraan Otonom Four Wheel Steering (4WS) Menggunakan Model Predictive Control Terkoordinasi

Kore, Evanbill Antonio (2021) Pengaturan Kemudi Kendaraan Otonom Four Wheel Steering (4WS) Menggunakan Model Predictive Control Terkoordinasi. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian dan pengembangan kendaraan otonom secara masif menghadirkan tantangan baru terhadap masalah pengendalian kendaraan otonom itu sendiri. Model kendaraan 4WS merupakan model yang sering digunakan karena terkenal dengan kemampuan manuvernya. Salah satu masalah pengendalian yang berpengaruh signifikan terhadap otonomi kendaraan adalah sistem kendali kemudi. Kontrol kemudi ini memainkan peran penting dalam beberapa skenario perubahan jalur dan pelacakan jalur. Dalam penelitian ini, algoritma kontrol Model Predictive Control (MPC) dirancang untuk mengontrol roda kemudi model kendaraan otonom Four Wheel Steering (4WS). Dari hasil eksperimen dengan beberapa skenario, diperoleh bahwa pengontrol yang dirancang berhasil mengendalikan sistem dengan IAE dan RMSE yang minimal. ========================================================= ========================================= Massive research and development of autonomous vehicles present new challenges to the problem of controlling autonomous vehicles themselves. 4WS vehicle model is often used because it is famous for its maneuverability. One of the control problems that have a significant effect on vehicle autonomy is the steering control system. This steering control plays an important role in several lanes changing and lane tracking scenarios. In this study, the Model Predictive Control (MPC) control algorithm is designed to control the steering wheel of the Four Wheel Steering (4WS) autonomous vehicle model. From the experimental results with several scenarios, it was found that the designed controller succeeded in controlling the system with minimal IAE and RMSE.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: four wheel steering, model predictive control, steering control, pengaturan kemudi
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ217.6 Predictive 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: Evanbill Antonio Kore
Date Deposited: 22 Aug 2021 15:39
Last Modified: 22 Aug 2021 15:39
URI: https://repository.its.ac.id/id/eprint/88594

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