PERANCANGAN SISTEM LATERAL CONTROL AUTONOMOUS VEHICLE BERBASIS FUZZY LOGIC CONTROL TYPE-2 UNTUK MENJAGA KESTABILAN LINTASAN

FADILLAH, MUHAMMAD IRVIN and Suprapto, Bhakti Yudho (2024) PERANCANGAN SISTEM LATERAL CONTROL AUTONOMOUS VEHICLE BERBASIS FUZZY LOGIC CONTROL TYPE-2 UNTUK MENJAGA KESTABILAN LINTASAN. Undergraduate thesis, Sriwijaya University.

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Abstract

This research analyzes the application of the Fuzzy Logic Controller (FLC) type-2 for Autonomous vehicle steering control, using input values in the form of error and delta error from the difference between the output produced by the primary controller and the steering angle value obtained from the calculation of the pulse encoder installed on the steering wheel. This data is then processed through ROS (robot perating system). This study compares the performance of type-2 FLCs with 7 members and 5 members, as well as PID controllers in various scenarios. The results show that FLC type-2 with 7 members achieves an average error of 4.97%, better than the 5 member configuration which has an error of 7.71%. In Obstacle avoidance tests, FLC type-2 demonstrated superior accuracy with average errors of 1.54% for human avoidance, 4.28% for one parked car, 1.2% for two cars parked on the left, and 2.13% for two cars parking on the left and one on the right. This compares to PID controllers registering errors of 2.19%, 3.49%, 1.12%, and 3.49% respectively. Full route testing from the front of the Electrical Engineering Department to the Faculty of Engineering and back recorded an average error of 8.87% for FLC type-2 and 12.35% for PID, while the return route error was 4.52% for FLC type-2 and 7.57% for PID. Type-2 FLC with 7 members has proven to be more effective in maintaining accuracy and performance in dynamic driving conditions than PID, although PID has a smoother response to small error values. These findings demonstrate the potential of type-2 FLC in improving steering accuracy and overall performance of Autonomous cars.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Autonomous Vehicle, FLC type-2, PID Control, Steering Angle, 5 member, 7 member
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:	Muhammad Irvin Fadillah
Date Deposited:	19 Jul 2024 01:22
Last Modified:	19 Jul 2024 01:22
URI:	http://repository.unsri.ac.id/id/eprint/151589

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