SISTEM KENDALI KECEPATAN AUTONOMOUS USV PENGUMPUL SAMPAH MENGGUNAKAN PID

ARDELA, MUHAMMAD KEVIN and Hikmarika, Hera and Suprapto, Bhakti Yudho (2019) SISTEM KENDALI KECEPATAN AUTONOMOUS USV PENGUMPUL SAMPAH MENGGUNAKAN PID. Undergraduate thesis, Sriwijaya University.

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Abstract

To overcome the amount of garbage needed low-cost and fast tools like USV (unmanned surface vehicle) usage. USV has been widely used in military and civilian areas. Further USV development is expected to produce benefits, such as development with less large operating costs, increased personnel safety and security, extended reach and operational precision, greater reach, and increased flexibility. To be able to use USV as a tool to autonomous garbage collector in water, it requires speed control so that USV speed can be set and can operate with maximum. To apply it, the study used a speed control system controlled using the Ardupilot Mega (APM 2.5) Microcontroller-based PID method with the Mission planner application. This USV has a purpose to collect the garbage in autonomous and with the appropriate speed to collect garbage well. This application is able to help USV to move in autonomous with the path to be determined and provide the value of PID. After the application, USV managed to move in autonomous according to the given path, and obtained the value of PID constants namely Kp = 0.7, Ki = 0.2, Kd = 0.2.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: USV, Autonomous, Speed control system, Mission Planner, PID.
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics > TK7816.P39 Electronics
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics > TK7836.M33 Microelectronics. Integrated circuits--Design and construction. Microelectromechanical systems--Design and construction
Divisions: 03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User: M. Kevin Ardela
Date Deposited: 06 Aug 2019 08:21
Last Modified: 06 Aug 2019 08:21
URI: http://repository.unsri.ac.id/id/eprint/2558

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