Perancangan Sistem Trajectory Planning Pada Autonomous Vehicle Menggunakan Frenet Reference Path Dan Optimization

Kusuma, Zulfirahma Dyah Septi (2021) Perancangan Sistem Trajectory Planning Pada Autonomous Vehicle Menggunakan Frenet Reference Path Dan Optimization. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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02311740000036-Undergraduate_Thesis.pdf
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Abstract

Teknologi kendaraan cerdas sudah mulai berkembang pesat oleh perusahaan otomotif di dunia. Terwujudnya kendaraan otonom (autonomous vehicle) merupakan salah satu tujuan akhir dari teknologi kendaraan cerdas. Pada penelitian ini dilakukan sebuah perancangan sistem perencanaan lintasan pada kendaraan otonom. Desain sistem perencanaan lintasan yang didesain menggunakan frenet reference path dan optimization. Lintasan kendaraan yang dihasilkan berupa lintasan optimum dari beberapa lintasan kandidat setelah melalui proses optimisasi dengan fungsi biaya dan batasan yang ada. Dari hasil lintasan optimal, dapat ditentukan nilai kelengkungan dan lateral offset terhadap waktu. Nilai kelengkungan (curvature) terbesar sebesar 0,005 m-1 dan -0,0053 m-1, pada waktu t = 2,9 s dan t = 4,9 s. Sedangkan nilai lateral offset terbesar yang dihasilkan sistem perencanaan lintasan sebesar 0,0279 m dan -0,0398 m, pada waktu t = 3 s dan t = 5 s. Hasil akhir sistem perencanaan lintasan yang dapat dilihat yaitu berupa nilai posisi (x,y) dan orientasi kendaraan (θ). Pada saat t = 2,8 s, pose kendaraan berada pada koordinat (243,176 ; 0,884 ; 0,0586) dan pada saat t = 10,7 s, pose kendaraan berada pada koordinat (361,27 ; 4,784 ; -0,2734). ================================================================================================ Intelligent vehicle technology has begun to develop rapidly by automotive companies in the world. The realization of an autonomous vehicle is one of the ultimate goals of intelligent vehicle technology. In this research, a trajectory planning system design for autonomous vehicles. The design of the trajectory planning system is designed using the frenet reference path and optimization. The resulting vehicle trajectory is an optimum path from several candidate paths after going through an optimization process with a cost function and existing constraints. From the results of the optimal trajectory, it can be determined the value of curvature and lateral offset with respect to time. The greatest curvature values are 0,005 m-1 and -0,0053 m-1, at time t = 2,9 s and t = 4,9 s. Meanwhile, the largest lateral offset value produced by the track planning system is 0,0279 m and -0,0398 m, at time t = 3 s and t = 5 s. The final result of the track planning system that can be seen is in the form of position values (x,y) and vehicle orientation (θ). At time t = 2,8 s, the pose of the vehicle is at the coordinates (243,176 ; 0,883 ; 0,0585) and at t = 10,7 s, the pose of the vehicle is at the coordinates (361,27 ; 4,784 ; -0,27336) .

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Autonomous Vehicle, Frenet Reference Path, Penghindaran Rintangan, Perencanaan Lintasan
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
Divisions: Faculty of Industrial Technology > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User: Zulfirahma Dyah Septi Kusuma
Date Deposited: 02 Sep 2021 04:07
Last Modified: 02 Sep 2021 04:07
URI: https://repository.its.ac.id/id/eprint/91039

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