Motion Planning Pada Mobil Otonom Dengan Algoritma Fast And Safe Trajectory Planner (Motion Planning In Autonomous Car With Fast And Safe Trajectory Planner Algorithm)

Setiaji, Muchmirul Yusa (2022) Motion Planning Pada Mobil Otonom Dengan Algoritma Fast And Safe Trajectory Planner (Motion Planning In Autonomous Car With Fast And Safe Trajectory Planner Algorithm). Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Motion planning adalah suatu proses perencanaan gerakan serta arah gerakan pada mobil otonom untuk menentukan lintasan mana yang akan dilewati pada step berikutnya .Pada mobil otonom terdapat juga sensor berupa odometry dan depth camera yang datanya digunakan untuk pengolahan algoritma motion planning.Pada tugas akhir kali ini digunakan algoritma FASTER (FAST AND SAFE TRAJECTORY PLANNER)[1] yang merupakan suatu algoritma motion planning untuk merencanakan arah gerakan mobil dengan pendekatan analitis. Algoritma ini membagi jalur yang ditempuh menjadi tiga bagian yaitu whole,safe, dan committed. Pada tugas akhir kali ini lingkungan diuji menjadi beberapa jenis lingkungan yaitu lingkungan dengan halangan diam dan bergerak dimana pada pengujian algoritma pada FASTER[1] hanya dilakukan pada lingkungan yang diam. Dari hasil pengujian didapatkan bahwa kecepatan rata-rata tertinggi didapatkan pada lingkungan dengan halangan diam sebesar 2.1945 m/s pada ground truth dan 2.0401 m/s pada pembacaan odometry. Kecepatan rata rata terendah didapatkan pada pengujian lingkungan dengan halangan berkecepatan bervariasi yaitu 1.4356 m/s pada ground truth dan 1.5292 m/s pada pembacaan odometry. Pada perbandingan kecepatan dari ground truth dan pembacaan odometry didapatkan nilai root mean square error terkecil pada pengujian lintasan berkecepatan sama. Pada pengujian lingkungan dengan halangan berkecepatan bervariasi didapatkan durasi Polysafe terlama.Polysafe merupakan hasil convex decomposition untuk menjamin agar mobil tidak menabrak halangan.
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Motion planning is a process of planning movement and direction of
movement in autonomous cars to determine which trajectory will be
passed in the next step. In autonomous cars there are also sensors in the
form of odometry and depth cameras whose data is used for processing
motion planning algorithms. In this final project, the FASTER (FAST
AND SAFE TRAJECTORY PLANNER) algorithm is used[1].which is a
motion planning algorithm to plan the direction of the car's movement
with an analytical approach. This algorithm divides the path taken into
three parts, namely whole, safe, and committed.In this final project, the
environment was tested into several types of environment, namely an
environment with stationary and moving obstacles where the algorithm
testing on FASTER[1] was carried out only in a stationary environment.
From the test results, it was found that the highest average speed was
obtained in an environment with a stationary obstacle of 2.1945 m/s on
ground truth and 2.0401 m/s on odometry readings. The lowest average
speed was obtained in environmental testing with varying speed obstacles,
with value 1.4356 m/s. at ground truth and 1.5292 m/s at odometry
reading. In comparison of speed from ground truth and odometry readings,
the smallest root mean square error value was obtained in the same speed
trajectory test. In testing obstacle with different speed environments, the
longest Polysafe duration is obtained. Polysafe is the result of convex
decomposition to make the car not hit obstacles.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Motion Planning, Mobil Otonom, Depth Camera, FASTER, Odometry, Convex Decomposition, Polysafe, Motion Planning, Autonomous Car.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.4 Robot motion T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots 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:	Muchmirul Yusa Setiaji
Date Deposited:	02 Feb 2022 07:11
Last Modified:	02 Nov 2022 03:25
URI:	http://repository.its.ac.id/id/eprint/92657

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