Pengembangan Low-cost Quadrotor dengan Misi Waypoint Tracking Berbasis Pengendali PID

ABSTRAK Quadrotor merupakan salah satu jenis pesawat tanpa awak yang dapat bekerja secara autonomous dalam melaksanakan tugasnya. Beberapa quadrotor komersial yang dapat bekerja secara autonomous memiliki harga yang relatif mahal. Penelitian ini bertujuan untuk merancang dan mengembangkan sebuah quadrotor berbiaya rendah dengan misi waypoint tracking berbasis pengendali PID. Quadrotor dirancang menggunakan modul Ardupilot Mega 2.6 sebagai pengendali terbang. Modul ini cocok digunakan untuk pengembangan sebuah quadrotor berbiaya rendah karena telah terintegrasi dengan sebuah antarmuka dan panel pengendali PID. Misi waypoint tracking dengan pengendali PID digunakan untuk menguji kinerja dari quadrotor yang dirancang. Hasil pengujian menunjukkan bahwa quadrotor dapat terbang secara autonomous pada dua buah skenario waypoint. Pengendali PID yang digunakan mampu menstabilkan sikap terbang quadrotor dengan maksimum overshoot kurang dari 4°. Kata kunci: Pengendali PID, sikap terbang, autonomous, waypoint, quadrotor ABSTRACT Quadrotor is one type of unmanned aircraft that can work autonomously in carrying out its duties. Some commercial quadrotor that can work autonomously have a relatively expensive price. This study aims to design and develop a lowcost quadrotor with a waypoint tracking mission based on PID controller. Quadrotor is designed using the Ardupilot Mega 2.6 module as flight controller. This module is suitable for the development of a low-cost quadrotor because it has been integrated with an interface and PID controller panel. The waypoint tracking mission with PID controller is used to test the performance of the designed quadrotor. The test results show that quadrotor can fly autonomously in two waypoint scenarios. The PID controller used is able to stabilize the quadrotor attitude with a maximum overshoot less than 4°. Keywords: PID controller, flight attitude, autonomous, waypoint, quadrotor

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