KONTROL HEADING DAN TRAYEKTORI ROBOT MENGGUNAKAN METODE FUZZY LOGIC PADA AUTONOMOUS UNDERWATER VEHICLE

ANGKOTASAN, ILHAM JUNIUS and Zarkasi, Ahmad (2020) KONTROL HEADING DAN TRAYEKTORI ROBOT MENGGUNAKAN METODE FUZZY LOGIC PADA AUTONOMOUS UNDERWATER VEHICLE. Undergraduate thesis, Sriwijaya University.

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Abstract

Autonomous Underwater Vehicle (AUV) adalah salah satu jenis robot kapal selam tak berawak yang memiliki banyak kegunaan. Pada sistem navigasi robot otonom yang menjadi poin penting adalah bagaimana cara memandu gerakan robot kapal selam dari satu posisi ke posisi lain melalui penentuan posisi dan arah gerakan. Karena beberapa faktor gangguan seperti arus dan gelombang air laut membuat gerakan robot AUV menjadi tidak stabil. Oleh karena itu diperlukan suatu sistem kontrol untuk mengerakan robot sehingga robot selalu menghadap ke arah yang diinginkan agar robot bisa bergerak maju hingga mencapai lokasi tujuan. Dalam tugas akhir ini, heading kontrol sistem akan dirancang menggunakan metode fuzzy Takagi Sugeno untuk menentukan arah pergerakan robot dengan mengontrol gerak sudut rotasi (yaw).

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Autonomous Underwater Vehicle (AUV), Fuzzy Logic Control, Sistem Navigasi.
Subjects:	T Technology > TS Manufactures > TS155-194 Production management. Operations management > TS183.G76 Manufacturing processes, Automation. Production control. CAD/CAM systems. Computer integrated manufacturing systems. Robots, Industrial.
Divisions:	09-Faculty of Computer Science > 56201-Computer Systems (S1)
Depositing User:	Users 7303 not found.
Date Deposited:	12 Aug 2020 04:32
Last Modified:	12 Aug 2020 04:32
URI:	http://repository.unsri.ac.id/id/eprint/32900

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