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DESAIN PENGENDALI STEERING PADA AUTONOMOUS VEHICLE MENGGUNAKAN METODE IMPROVED SWERVE DRIVE BERBASIS ALGORITMA PID

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This study aims to design a steering control system for an Autonomous Electric Vehicle (AEV) using the Improved Swerve Drive method based on the PID algorithm through a quantitative approach involving small-scale prototype testing. The research is motivated by issues such as limited maneuverability in narrow spaces, the complexity of the swerve drive system, and low steering angle precision. By applying the PID algorithm through a trial-and-error method, tests were conducted under various scenarios, including straight paths, 90° turns, parallel parking, and obstacle avoidance. The results demonstrated the effectiveness of different PID configurations, such as PI and P-only for straight-line movement, and full PID control for parking maneuvers, achieving path deviation of 3–6% and position accuracy of up to ±0.5 steps. Comparisons with tuning methods such as Ziegler-Nichols and MATLAB PID Tuner revealed that the trial-and-error approach is more flexible and adaptive to dynamic real-world conditions. The findings conclude that the PID algorithm significantly enhances the responsiveness, steering precision, and control stability of the AEV and serves as a strong foundation for implementation in full-scale autonomous vehicle systems.

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Availability

Detail Information

Series Title

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Call Number

T1803272025

Publisher

Indralaya : Prodi Teknik Elektro, Fakultas Teknik Universitas Sriwijaya., 2025

Collation

xvi, 125 hlm.; ilus.; tab.; 29 cm.

Language

Indonesia

ISBN/ISSN

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Classification

621.310 7

Content Type

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Media Type

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Carrier Type

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Edition

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Subject(s)

Teknik elektro

Specific Detail Info

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Statement of Responsibility

TUTI

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