Supervisors : Prof. Yul Yunazwin Nazaruddin & Augie Widyotriatmo, Ph.D.
I worked with Prasetyo W. L. Sanjaya on the topic of implementation of longitudinal and lateral control systems for a real-scale autonomous golf cart as a capstone project. We used the PID concept as the longitudinal controller and the Stanley algorithm as the lateral controller. We were greatly helped by Udiana Bambang, M.Eng on hardware installations. Responsibilities include:
- Designing a drive-by-wire system on a golf cart
- Designing a longitudinal and lateral control module using Python
- Designing a 2D state estimation module incorporating accelerometer, gyroscope, GNSS, and vehicle nonholonomic constraint using the Extended Kalman Filter algorithm
- Implementing a control system consisting of path following and speed controller for an autonomous golf cart
Tools : Python, Arduino, ROS, CARLA Simulator
Libraries : Numba, Numpy, Matplotlib, Pandas
Sensors : IMU, GNSS, Absolute encoder, Linear transducer
Actuators : Nema 34, Brushed DC motor
Fadillah Adamsyah Ma'ani
AI Engineer
My research interests include computer vision and deep learning matter, especially on the area of medical imaging, machine vision, and autonomous vehicles.