Pengaturan Kemudi Kendaraan Otonom Four Wheel Steer dan Four Wheel Drive (4WS4WD) Menggunakan Model Predictive Control

Brilian Putra Amiruddin, Rusdhianto Effendi Abdul Kadir, Ari Santoso
Submission Date: 2021-02-24 20:33:57
Accepted Date: 2021-08-31 07:56:06

Abstract


Riset dan perkembangan kendaraan otonom yang semakin masif memberikan tantangan baru pada permasalahan pengaturan kendaraan otonom itu sendiri. Salah satu model kendaraan yang sering digunakan karena terkenal akan kemampuan manuvernya adalah model 4WS4WD. Salah satu permasalahan pengaturan yang berpengaruh signifikan pada keotonoman kendaraan adalah sistem pengaturan kemudinya. Pengaturan kemudi ini memegang peranan penting dalam beberapa skenario misalnya perubahan lajur dan pelacakan jalur. Pada penelitian ini, algoritma kontrol Model Predictive Control (MPC) dirancang untuk mengatur kemudi dari kendaraan otonom model 4WS4WD. Dari hasil percobaan dengan beberapa skenario diperoleh bahwa kontroler kemudi yang dirancang memiliki nilai IAE dan RMSE terendah ketika Np = 6 dan Nc = 5 dengan rata-rata nilai 706.32 dan 0.0296, masing-masing.

Keywords


Kendaraan Otonom; Model 4WS4WD; Model Predictive Control; Pengaturan Kemudi.

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