DESIGN OF MOTION CONTROL SYSTEM IN SIMULATOR OF AUTONOMOUS E-TRIKE IN ITB GANESHA CAMPUS ENVIRONMENT

• Main Author: Syaeful Iman, Isro
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/51146
• Institution: Institut Teknologi Bandung

Autonomous E-Trike is a transportation in the form of a three-wheeled vehicle that can take passengers to their destination point automatically without any driving skills on passengers. Autonomous E-Trike consists of a multisensor system to obtain environmental data, and the E-Trike motion control system to control the E-Trike to move towards the destination point. E-Trike motion control system consists of an actuator control system to control actuator motion in the E-Trike and E-Trikes motion planning to determine the values of speed target and steering position target of the E-Trike so that the E-Trike can move towards the destination point. E-Trike motion planning is designed through simulator of Autonomous E-Trike based on E-Trike kinematics. The Simulator of Autonomous E-Trike using MATLAB software which has a feature to display the visualization of E-Trike motion on the road, determining the target trajectory of the path that the E-Trike must follow, calculating the target value of the E-Trike's steering position and speed, communicate to the actuator motion control system by sending the target value of the steering position and speed and receiving the actual value of the steering position and the speed of the E-Trike, and finally performing calculations to update the position and angle of the E-Trike based on the E-Trike kinematics. The simulation aims to see the response of the ETrike's motion when turning at an intersection, the E-Trike's response when the target trajectory shifts 55 cm and the response of the vehicle moving towards the E-Trike target trajectory when the E-Trike frame position is tilted 150 from the direction of the road. Through these three conditions, in the simulation, the autonomous E-Trike succeeded in moving towards the destination point without getting out of road line with a width of 2.5 ± 0.1 meters, a speed value range 0 – 4 m/s, target value of acceleration is 0.1 m/s 2 , the position of the steering angle ranges from 00 -550 and the steering angle speed is 60 /sec.