SISTEM KENDALI OBSTACLE AVOIDANCE AUTONOMOUS UNMANNED GROUND VEHICLE BERODA TANK BERBASIS LIDAR
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Institusion
Universitas Sriwijaya
Author
AHMAD, FAISAL GHIENALDY
Husin, Zaenal
Husin, Zaenal
Subject
TK1 Electrical engineering--Periodicals. Automatic control--Periodicals. Computer science--Periodicals. Information technology--Periodicals. Automatic control. Computer science. Electrical engineering. Information technology.
Datestamp
2023-05-19 08:08:26
Abstract :
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.
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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RAMA_20201_03041381621097.pdf
RAMA_20201_03041381621097_TURNITIN.pdf
RAMA_20201_03041381621097_0014025604_01_front_ref.pdf
RAMA_20201_03041381621097_0014025604_02.pdf
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RAMA_20201_03041381621097_0014025604_04.pdf
RAMA_20201_03041381621097_0014025604_05.pdf
RAMA_20201_03041381621097_0014025604_06_ref.pdf
RAMA_20201_03041381621097_0014025604_07_lamp.pdf
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