MUHAMMAD, NOVALDY NUR (2026) IMPLEMENTASI ALGORITMA PATH TRACKING PADAROBOT BERODA DENGAN METODE STANLEY CONTROLLER. S1 thesis, Universitas Mercu Buana Jakarta.
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Abstract
This study implements an Adaptive Stanley Controller on a wheeled robot as a path tracking algorithm utilizing an Ackermann steering system to overcome the limitations of the conventional Stanley Controller, which exhibits unstable steering output at high speeds due to the use of a static (k) gain constant. This research aims to demonstrate that adaptively adjusting parameters can improve trajectory tracking accuracy by comparing Cross-Track Error (CTE) values and the Cartesian coordinates of the waypoints traversed by the robot between the Adaptive Stanley Controller and the conventional Stanley Controller across two different track schemes, an S-curve track and a mixed track combining straight lines and turns. To validate the experimental data, Root Mean Square Error (RMSE) and the Wilcoxon Signed-Rank Test were employed as evaluation metrics to analyze the hypothesis regarding the presence or absence of a reduction in cross-track error. The test results on the first track scheme show that the Adaptive Stanley Controller successfully reduced the RMSE value to 7.35 compared to 30.21 for the conventional version, representing a performance improvement of 75.67%. Furthermore, the Wilcoxon test yielded a Z-value of -4,2810, corresponding to a p�value is 0.00001 at
| Item Type: | Thesis (S1) |
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| NIM/NIDN Creators: | 41424110022 |
| Uncontrolled Keywords: | Stanley Controller, Path Tracking, Kendaraan Otonom, Ackerman Steering, Kendali Lateral |
| Subjects: | 500 Natural Science and Mathematics/Ilmu-ilmu Alam dan Matematika > 510 Mathematics/Matematika > 518 Numerical Analysis/Analisis Numerik, Analisa Numerik > 518.1 Algorithms/Algoritma 600 Technology/Teknologi > 620 Engineering and Applied Operations/Ilmu Teknik dan operasi Terapan > 621 Applied Physics/Fisika terapan > 621.3 Electrical Engineering, Lighting, Superconductivity, Magnetic Engineering, Applied Optics, Paraphotic Technology, Electronics Communications Engineering, Computers/Teknik Elektro, Pencahayaan, Superkonduktivitas, Teknik Magnetik, Optik Terapan, Tekn |
| Divisions: | Fakultas Teknik > Teknik Elektro |
| Depositing User: | khalimah |
| Date Deposited: | 03 Sep 2026 14:38 |
| Last Modified: | 03 Sep 2026 14:38 |
| URI: | http://repository.mercubuana.ac.id/id/eprint/103611 |
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