Khotimah, Indah Siti and , Fajar Suryawan, S.T, M.Eng.Sc.,Ph.D. (2026) Perancangan Dan Implementasi Autonomous Surface Vehicle Berbasis Esp32-S3 Dengan Navigasi Waypoint Dan Monitoring Real-Time Menggunakan MQTT Dan Node-Red. Skripsi thesis, Universitas Muhammadiyah Surakarta.
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Abstract
The development of automatic control system technology encourages the use of unmanned vehicles such as Autonomous Surface Vehicles (ASV) for efficient water monitoring. Manual operation of ships has limitations in the consistency of navigation path tracking and the accuracy of real-time position monitoring. This research aims to design and implement an ASV system based on the ESP32-S3 microcontroller that can autonomously navigate across 12 waypoint points with five variations of geometric patterns (SQUARE, CIRCLE, STAR, LOVE, EIGHT) and transmit telemetry data in real-time. The methods used include hardware design utilizing the NEO-M8N GPS module for coordinate acquisition, the MPU9250 (GY-91) sensor as a digital compass filtered with a Low-Pass Filter (LPF), BLDC motor drivers, and rudder control based on a PID controller (Kp=2.50, Ki=0.15, Kd=0.40). Bidirectional data communication utilizes the MQTT protocol based on local Wi-Fi, integrated with the Node-RED platform at the ground station as an interactive monitoring interface. Field test results in the waters of UMS Lake show that the ASV system successfully executed waypoint navigation autonomously, with an average arrival radius error of 1.53 meters, which is below the threshold of 3.5 meters, and successfully realized the Return to Start (RTS) feature. Telemetry transmission on the MQTT topic is very responsive and is supported by the fail-safe function reconnectMQTT() which can maintain the security of autonomous navigation in the event of a Wi-Fi network disconnection.
| Item Type: | Thesis (Skripsi) |
|---|---|
| Uncontrolled Keywords: | Autonomous Surface Vehicle, ESP32-S3, MQTT, PID Controller, Return to Start, Waypoint Navigation. |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TL Motor vehicles. Aeronautics. Astronautics |
| Divisions: | Fakultas Teknik > S1 Teknik Elektro |
| Depositing User: | INDAH SITI KHOTIMAH |
| Date Deposited: | 14 Aug 2026 01:52 |
| Last Modified: | 14 Aug 2026 01:52 |
| URI: | http://eprints.ums.ac.id/id/eprint/147769 |
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