DESAIN PENGENDALI STEERING PADA AUTONOMOUS VEHICLE MENGGUNAKAN METODE IMPROVE SWERVE DRIVE BERBASIS ALGORITMA FUZZY LOGIC TIPE 2

KARISMA, MUHAMMAD REYHAN and Suprapto, Bhakti Yudho (2025) DESAIN PENGENDALI STEERING PADA AUTONOMOUS VEHICLE MENGGUNAKAN METODE IMPROVE SWERVE DRIVE BERBASIS ALGORITMA FUZZY LOGIC TIPE 2. Undergraduate thesis, Sriwijaya University.

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Abstract

Kendaraan otonom adalah inovasi penting dalam meningkatkan keselamatan dan efisiensi transportasi. Penelitian ini mengembangkan sistem kendali kemudi menggunakan metode Improved Swerve Drive berbasis algoritma Fuzzy Logic Tipe-2, karena kemampuannya menghasilkan gerakan holonomik, memungkinkan manuver fleksibel seperti belok tajam, parkir paralel, dan menghindari rintangan. Fuzzy Logic Tipe-2 digunakan karena lebih mampu menangani ketidakpastian dan noise dibanding tipe-1. Simulasi dilakukan menggunakan MATLAB dengan membership function sebanyak 3, 5, dan 7. Hasil simulasi menunjukkan konfigurasi 7 member menghasilkan performa terbaik dengan steady-state error sebesar 0,0139 dan overshoot minimal 9,2774%. Pengujian real-time menunjukkan bahwa sistem mampu menyelesaikan manuver jalan lurus dengan deviasi kemudi maksimum sebesar 2,4°, serta belokan 90° dalam waktu 3,1 detik dengan tingkat akurasi lintasan mencapai 96,8%. Sistem juga menunjukkan respons adaptif terhadap obstacle pada jarak 0,5 hingga 2 meter. Hasil uji beban menunjukkan deformasi maksimum pada rangka sebesar 2,18 mm dan tegangan Von Mises sebesar 154 MPa, jauh di bawah batas leleh material 250 MPa, sehingga struktur kendaraan dinyatakan aman.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Kendaraan Otonom, Penggerak Swerve, Logika Fuzzy Tipe 2, Kontrol Kemudi, Gerakan Holonomik
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK9900-9971 Electricity for amateurs. Amateur constructors' manuals
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Muhammad Reyhan Karisma
Date Deposited:	10 Sep 2025 09:26
Last Modified:	10 Sep 2025 09:26
URI:	http://repository.unsri.ac.id/id/eprint/183623

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