DESAIN PENGENDALI STEERING PADA AUTONOMOUS VEHICLE MENGGUNAKAN METODE IMPROVED SWERVE DRIVE BERBASIS ALGORITMA PID

LAKSONO, ORIZ DJATI and Rendyansyah, Rendyansyah (2025) DESAIN PENGENDALI STEERING PADA AUTONOMOUS VEHICLE MENGGUNAKAN METODE IMPROVED SWERVE DRIVE BERBASIS ALGORITMA PID. Undergraduate thesis, Sriwijaya University.

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Abstract

This study aims to design a steering control system for an Autonomous Electric Vehicle (AEV) using the Improved Swerve Drive method based on the PID algorithm through a quantitative approach involving small-scale prototype testing. The research is motivated by issues such as limited maneuverability in narrow spaces, the complexity of the swerve drive system, and low steering angle precision. By applying the PID algorithm through a trial-and-error method, tests were conducted under various scenarios, including straight paths, 90° turns, parallel parking, and obstacle avoidance. The results demonstrated the effectiveness of different PID configurations, such as PI and P-only for straight-line movement, and full PID control for parking maneuvers, achieving path deviation of 3–6% and position accuracy of up to ±0.5 steps. Comparisons with tuning methods such as Ziegler-Nichols and MATLAB PID Tuner revealed that the trial-and-error approach is more flexible and adaptive to dynamic real-world conditions. The findings conclude that the PID algorithm significantly enhances the responsiveness, steering precision, and control stability of the AEV and serves as a strong foundation for implementation in full-scale autonomous vehicle systems.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Autonomous Electric Vehicle, PID, Improved Swerve Drive, Steering Control, Trial and Error
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1-9971 Electrical engineering. Electronics. Nuclear engineering > TK1 Electrical engineering--Periodicals. Automatic control--Periodicals. Computer science--Periodicals. Information technology--Periodicals. Automatic control. Computer science. Electrical engineering. Information technology.
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Oriz Djati Laksono
Date Deposited:	24 Jul 2025 04:51
Last Modified:	24 Jul 2025 04:51
URI:	http://repository.unsri.ac.id/id/eprint/180327

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