Sistem Obstacle Avoidance 3 Dimensi dengan Menggunakan Kuantifikasi Geometri Ellipsoidal

• Main Author: Joseph, Hansel
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/35329
• Institution: Institut Teknologi Bandung

Demand for Unmanned Aerial System (UAS) usage is getting increased and diversed. To run certain mission, UAS needs to fly at low altitude surrounded by obstacles. Human as UAS operator has limitations in controlling this aircraft. Assistance from UAS is needed to guide the aircraft to complete its mission and avoid obstacles. This final project goal is to design and simulate obstacle avoidance system integrated in waypoint following with 3 dimensional motion. Obstacle avoidance system is developed using ellipsoid geometry to quantify shape and size of obstacle. Reference point to avoid obstacle is calculated among ellipsoid boundary by optimization. This contact point becomes inserted waypoint in waypoint following system so aircraft flies through safe path. The designed system must be able to give corrective guidance to aircraft path and be able to avoid collision with detected obstacles.