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SISTEM TRACKING DAN PENGHINDAR HALANGAN PADA USV (UNMANNED SURFACE VEHICLE) MENGGUNAKAN FUZZY LOGIC

Aditya, Faizal (2022) SISTEM TRACKING DAN PENGHINDAR HALANGAN PADA USV (UNMANNED SURFACE VEHICLE) MENGGUNAKAN FUZZY LOGIC. Undergraduate (S1) thesis, Universitas Muhammadiyah Malang.

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Abstract

Cruise accidents caused by human error are quite high. One way to overcome human error is to develop unmanned surface vahicle (USV) or often called unmanned ships. This USV is used to track objects and avoid obstacles. Based on image processing research is the optimal method for detecting objects and obstacles. The number of environmental disturbances such as significant light changes, high wind speeds, and water waves can affect the movement of the USV in tracking objects or avoiding obstacles. So that USV technology needs to be developed to be more optimal in maintaining stability and decision making when avoiding obstacles. Fuzzy PD and fuzzy methods are methods that can be used to maintain stability and decision making. Based on fuzzy PD control research for tracking objects, it was found that the control using PD tunning with a value of Kp = 0.02 and Kd = 2 received the most optimal response when tested without disturbance. Tunning PD without disturbance produces a rise time of 3024 ms, peak time of 3864 ms, and settling time of 15624 ms. While tunning PD with disturbance uses tunning PD with a value of Kp = 0.02 and Kd = 0.5 to produce an optimal response. Tunning PD with disturbance resulted in a rise time of 3360 ms, a peak time of 3864 ms, and settling time of 7056 ms. In fuzzy research for obstructions, fuzzy logic can be used to take USV decisions in avoiding obstructions with the formation of fuzzy input sets using distance and angular data from webcams.

Item Type: Thesis (Undergraduate (S1))
Student ID: 201710130311171
Thesis Advisors: Zulfatman (0709117804), Novendra Setyawan (0719119201)
Keywords: Unmanned Surface Vehicle, fuzzy PD, fuzzy, tracking, obstacles
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions: Faculty of Engineering > Department of Electrical Engineering (20201)
Depositing User: 201710130311171 faizaladitya
Date Deposited: 19 Apr 2022 06:09
Last Modified: 19 Apr 2022 06:09
URI : http://eprints.umm.ac.id/id/eprint/86455

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