Unmanned Surface Vehicle Autopilot and Guidance System Design with Disturbance Using Fuzzy Logic Sliding Curve

Abstract

One technology that is developing rapidly at this time is unmanned vehicles. Unmanned surface vehicle (USV) or an unmanned ship can go without a captain. USV has a variety of functions such as a vehicle and a combat tool to a means of transportation. The development of the USV into an autonomous vehicle requires a variety of configurations both in determining speed, trajectory and avoiding obstacles. The designed system certainly has external disturbances which can affect the stability of the system. The existence of environmental changes that can occur with various conditions results in the USV system that needs to be able to adapt. To overcome these problems, a stable intelligent controller can be designed. In this study, the USV autopilot and guidance system was designed using a Fuzzy Logic Sliding Curve. In testing the results of system design, simulations will be carried out using MATLAB software. This study carried out various variations to obtain an autopilot and guidance unmanned surface vehicle (USV) system method that was able to reach the waypoint in the fastest time and the shortest distance.