Skripsi

SISTEM KENDALI OBSTACLE AVOIDANCE AUTONOMOUS UNMANNED GROUND VEHICLE BERODA TANK BERBASIS LIDAR. 

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Penilaian

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Indonesia with thousands of islands has weaknesses in the infrastructure sector, hundreds of small islands do not have the resources to build roads. Rubber tires that are often used for vehicles have lower durability when used on inadequate roads. UGV is a vehicle that is run for a specific purpose without being driven by humans. Autonomus UGV moves based on a predetermined area or path, but its control is a separate problem, so it requires optimal control. The system that can help to overcome these difficulties is an autonomous system with the help of LiDAR which is able to avoid obstacles on its way. LiDAR-based UGV control is designed with a PID system where the Ziegler-Nichols method and trial and error obtain PID values Kp = 4.9, Ki = 1.4 and Kd = 4.2. The speed of the UGV in this study depends on the error value obtained from the GPS sensor which is calculated using the haversine formula. UGV with the help of LIDAR is able to avoid obstacles in the form of rocks and plywood on its route. UGV managed to stop at a predetermined position with a distance difference from the original point of +-2.32 meters. A safe distance of 21 cm is maintained between the UGV and the plywood obstacle.

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Availability

Inventory Code	Barcode	Call Number	Location	Status
2307001776	T104037	T1040372023	Central Library (Referens)	Available

Detail Information

Series Title

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Call Number

T1040372023

Publisher

Indralaya : Prodi Teknik Elektro, Fakultas Teknik Universitas Sriwijaya ;., 2023

Collation

xvi, 59 hlm.; ilus.; 29 cm

Language

Indonesia

ISBN/ISSN

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Classification

621.316 07

Content Type

Text

Media Type

unmediated

Carrier Type

-

Edition

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Subject(s)

Prodi Teknik Elektro
Alat-alat Kontrol Listrik

Specific Detail Info

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Statement of Responsibility

MURZ

Other version/related

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