Artificial Potential Field Algorithm for Obstacle Avoidance in UAV Quadrotor for Dynamic Environment

Ma’arif, Alfian and Rahmaniar, Wahyu and Vera, Marco Antonio Márquez and Nuryono, Aninditya Anggari and Majdoubi, Rania and Çakan, Abdullah (2021) Artificial Potential Field Algorithm for Obstacle Avoidance in UAV Quadrotor for Dynamic Environment. [Artikel Dosen]

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Abstract

Artificial potential field (APF) is the effective real-time guide, navigation, and obstacle avoidance for UAV Quadrotor. The main problem in APF is local minima in an obstacle or multiple obstacles. In this paper, some modifications and improvements of APF will be introduced to solve one-obstacle local minima, two-obstacle local minima, Goal Not Reachable Near Obstacle (GNRON), and dynamic obstacle. The result shows that the improved APF gave the best result because it made the system reach the goal position in all of the examinations. Meanwhile, the APF with virtual force has the fastest time to reach the goal; however, it still has a problem in GNRON. It can be concluded that the APF needs to be modified in its algorithm to pass all of the local minima problems.

Item Type: Artikel Dosen
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisi / Prodi: Faculty of Industrial Technology (Fakultas Teknologi Industri) > S1-Electrical Engineering (S1-Teknik Elektro)
Depositing User: M.Eng. Alfian Ma'arif
Date Deposited: 17 Feb 2022 01:45
Last Modified: 17 Feb 2022 01:45
URI: http://eprints.uad.ac.id/id/eprint/32562

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