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All Journal Journal of Robotics and Control (JRC) JAREE (Journal on Advanced Research in Electrical Engineering) Sewagati
Sahal, Mochammad
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Aerospace Engineering Arts Humanities Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Engineering Languange, Linguistic, Communication & Media Mechanical Engineering Public Health Social Sciences Other

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Cooperative Formation and Obstacle Avoidance Control for Multi-UAV Based on Guidance Route and Artificial Potential Field Sahal, Mochammad; Maynad, Vincentius Charles; Bilfaqih, Yusuf
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23577

Abstract

Research on cooperative control of multi-UAV systems has gained significant attention in the flight control field, with a particular focus on formation control and obstacle avoidance due to their complexity and importance. This paper introduces an approach to a group of quadcopter control by integrating fuzzy controller, guidance route, and Artificial Potential Field (APF) methods. The quadcopter dynamic model, featuring six degrees of freedom, is controlled using a fuzzy state feedback controller in its inner loop. From the outer loop, the formation-making is guided by an easy-to-use and versatile guidance route approach while obstacle avoidance is tackled using the optimal APF method. There are two avoidance strategies that can be compared and analyzed, called "total avoidance" and "minimal avoidance", both individually and as a "combined" strategy. Simulations in various environments with different obstacle sizes show that all control algorithms can accomplish the tasks effectively. Both strategies have their own strength in terms of path length and formation maintenance. A formation performance index, which is calculated based on the difference between the desired position and the actual position of each quadcopter, is used to quantify the effectiveness of the method. A smaller value means better formation maintenance. The total avoidance strategy achieved an average index of 0.8000 and the minimal avoidance strategy reached 1.2227. These metrics highlight the trade-offs of each strategy in maintaining optimal formation. These findings offer valuable insights for the development of more robust multi-UAV systems, with potential applications in autonomous delivery services, surveillance, and environmental monitoring.
Upaya Mendukung Kegiatan Tridharma Perguruan Tinggi melalui Penyelenggaraan Seri Workshop Bidang Sistem Otonom Bilfaqih, Yusuf; Sahal, Mochammad; Hidayat, Zulkifli; Gamayanti, Nurlita; Mileanasari, Fadhilah
Sewagati Vol 8 No 6 (2024)
Publisher : Pusat Publikasi ITS

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j26139960.v8i6.2040

Abstract

Sistem otonom merupakan sistem yang beroperasi tanpa campur tangan manusia dengan memanfaatkan kecerdasan buatan. Perkembangan sistem otonom sangat pesat pada beberapa dekade terakhir dimana negara kita cukup tertinggal. Oleh karena itu, menjadi kewajiban bagi kalangan akademisi untuk mengejar ketertinggalan tersebut melalui program tridharma perguruan tinggi, meliputi kegiatan pendidikan, penelitian dan pengabdian kepada masyarakat. Program pengabdian ini menawarkan suatu pendekatan dalam upaya mendukung kegiatan pendidikan, penelitian dan pengabdian melalui penyelenggaraan seri workshop terkait topik sistem otonom. Untuk mengejar ketertinggalan tersebut, kegiatan utama program pengabdian ini berupa seri workshop dengan topik Sensor Fusion dan topik Pemodelan, Pemanduan dan Pengendalian Unmanned Surface Vehicles (USV). Workshop diikuti oleh dosen dan mahasiswa yang berasal dari Institut Teknologi Sepuluh Nopember (ITS) dan perguruan tinggi di Jawa Timur serta kalangan industri, antara lain dari PT Infoglobal. Kajian terhadap hasil survei menunjukkan lebih dari 95% dari 141 peserta yang mengisi kuesioner, dari total 159 peserta yang mengikuti workshop, menilai workshop telah dijalankan dengan baik atau memuaskan. Workshop ini telah membekali peserta dengan kemampuan teoritis dan praktis untuk mengintegrasikan data yang berasal dari multisensor, pemodelan, pemanduan serta pengendalian sistem otonom. Kemampuan ini mendukung proses belajar-mengajar, penelitian, dan pemanfaatan/ pengabdian yang dilaksanakan oleh mahasiswa, dosen dan kalangan industri. Kegiatan pengabdian ini menunjukkan keberhasilan mendukung kegiatan penelitian dan pendidikan di laboratorium Sistem dan Sibernetika hingga menghasilkan luaran berupa dua modul workshop, sebuah buku diterbitkan, enam sertifikat HKI dan sebuah naskah yang dipublikasikan.
Cooperative Formation and Obstacle Avoidance Control for Multi-UAV Based on Guidance Route and Artificial Potential Field Sahal, Mochammad; Maynad, Vincentius Charles; Bilfaqih, Yusuf
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23577

Abstract

Research on cooperative control of multi-UAV systems has gained significant attention in the flight control field, with a particular focus on formation control and obstacle avoidance due to their complexity and importance. This paper introduces an approach to a group of quadcopter control by integrating fuzzy controller, guidance route, and Artificial Potential Field (APF) methods. The quadcopter dynamic model, featuring six degrees of freedom, is controlled using a fuzzy state feedback controller in its inner loop. From the outer loop, the formation-making is guided by an easy-to-use and versatile guidance route approach while obstacle avoidance is tackled using the optimal APF method. There are two avoidance strategies that can be compared and analyzed, called "total avoidance" and "minimal avoidance", both individually and as a "combined" strategy. Simulations in various environments with different obstacle sizes show that all control algorithms can accomplish the tasks effectively. Both strategies have their own strength in terms of path length and formation maintenance. A formation performance index, which is calculated based on the difference between the desired position and the actual position of each quadcopter, is used to quantify the effectiveness of the method. A smaller value means better formation maintenance. The total avoidance strategy achieved an average index of 0.8000 and the minimal avoidance strategy reached 1.2227. These metrics highlight the trade-offs of each strategy in maintaining optimal formation. These findings offer valuable insights for the development of more robust multi-UAV systems, with potential applications in autonomous delivery services, surveillance, and environmental monitoring.
Leader-Follower Formation and Obstacle Avoidance for Nonholonomic Mobile Robots Using Velocity Obstacles Putra, Misbah Habib; Agustinah, Trihastuti; Sahal, Mochammad
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 9, No 1 (2025): January
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/jaree.v9i1.433

Abstract

A multi-robot system is a group of robots that coordinate and perform complex tasks with the help of a communication system. The commonly adapted approaches in multi-robot formation control include the leader-follower method, where the leading robot acts as the coordination center, and follower robots track the movement of the leading robot. Multi-robot formations are usually faced by static and dynamic obstacles in the operational environment. In this paper, the obstacle-avoidance challenge is tackled by adopting the concept of velocity obstacles in a way that enables the robots to efficiently consider not only the velocity of an obstacle but also its direction in order to avoid collision. The method is evaluated through several simulation scenarios in different environments. The simulation results show that the multi-robot formation version can successfully avoid static and dynamic obstacles and reform a formation right afterward from zero collisions.
Integrated Radar and Missile System with Poisson-Prioritized Threat Management and PPN Guidance for Countering Multiple UAV Threats Hage, Giselle; Santoso, Ari; Sahal, Mochammad
Journal of Robotics and Control (JRC) Vol. 6 No. 1 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

In military defense, critical infrastructure protection, and border and maritime surveillance, radar detection plays a critical role in neutralizing threats, since slight delays in detection can enable hostile UAVs to breach defenses and target critical objectives. This research proposes an air defense systems, consists of integrated radar and missile system, to detect and neutralize aerial threats. The radar detects UAVs, tracks their trajectories, and prioritizes threats according to the distance of UAVs within its detection range, incorporating Poisson-distributed probability to dynamically allocate missile resources, allowing the systems to cover broader threat zones, which is crucial for the real-time interception of multiple UAVs. Each UAV is equipped with a state feedback controller for accurate navigation, while the missile system consistently enhancing its trajectory to accurately track and intercept threats under PPN guidance. Simulated experiments indicate that the proposed system intercepted the aerial threats within its operational range and time constraints in various battlefield scenarios. The system’s effect within its operational radius has also been evaluated in an experiment designed to counter a swarm of 6 UAVs flies in a predefined formation. In this scenario, the air defense system successfully launched a missile towards UAV swarms that neutralized 83.33% of total identified threats. The proposed system can be an alternative air defense systems to confront UAV threats in battlefield situations, with potential application in disaster management, search and rescue, and early warning system.
Metode Saintifik dalam Pemberdayaan Potensi Ekonomi Masyarakat Melalui Pemanfaatan Teknologi E-commerce dan Media Sosial Bilfaqih, Yusuf; Sahal, Mochammad; Hidayat, Zulkifli; Gamayanti, Nurlita; Alkaff, Abdullah; Mileanasari, Fadhilah
Sewagati Vol 9 No 4 (2025)
Publisher : Pusat Publikasi ITS

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j26139960.v9i4.5506

Abstract

Pemberdayaan potensi ekonomi masyarakat melalui pemanfaatan teknologi e-commerce dan media sosial menjadi sangat relevan dalam konteks perkembangan teknologi digital saat ini. Makalah ini menyajikan strategi yang menerapkan metode saintifik untuk memanfaatkan teknologi yang tepat guna dalam pemberdayaan potensi ekonomi masyarakat yang terdampak pandemi Covid-19.  Kegiatan pengabdian dimulai dengan menentukan masyarakat yang menjadi sasaran pengabdian, kemudian melakukan survei potensi ekonomi masyarakat sasaran pengabdian dan survei potensi teknologi e-commerce dan media sosial. Selanjutnya, dilakukan kajian terhadap data hasil survei untuk menentukan jenis usaha baru bagi tiap anggota masyarakat. Sejalan dengan itu, tim pengabdi menerapkan metode saintifik dalam setiap langkah dalam pemanfaatan teknologi untuk keperluan usaha, meliputi proses menjual dan membeli produk, mengiklankan, serta memasarkan produk. Langkah-langkah saintifik ini dikenalkan dan diterapkan secara langsung melalui kegiatan pendampingan mulai membuka usaha baru hingga simulasi praktik usaha atau jual beli online. Untuk memfasilitasi kegiatan tersebut telah dihasilkan luaran berupa poster dan buku saku berisi petunjuk/tip memanfaatkan teknologi e-commerce dan media sosial. Luaran yang utama adalah terbentuknya toko dan warung online untuk menjalankan usaha peserta pengabdian. Hasil kegiatan menunjukkan bahwa masyarakat mampu mengakses, memahami, dan menerapkan metode saintifik sederhana dalam usaha mereka. Terdapat peningkatan pemahaman, motivasi kewirausahaan, dan inisiasi usaha baru oleh peserta. Pendekatan dalam kegiatan ini tidak hanya dapat meningkatkan kinerja ekonomi masyarakat, tetapi juga membuka peluang baru dalam pengembangan usaha mikro, kecil, dan menengah (UMKM).
Co-Authors Abdullah Alkaff Ari Santoso Hage, Giselle Maynad, Vincentius Charles Mileanasari, Fadhilah Nurlita Gamayanti Putra, Misbah Habib Trihastuti Agustinah Yusuf Bilfaqih Zulkifli Hidayat