Artificial Potential Field Algorithm for Obstacle Avoidance in Uav Quadrotor for Dynamic Environment
| dc.contributor.author | Ma'arif, Alfian | |
| dc.contributor.author | Rahmaniar, Wahyu | |
| dc.contributor.author | Marquez Vera, Marco Antonio | |
| dc.contributor.author | Nuryono, Aninditya Anggari | |
| dc.contributor.author | Majdoubi, Rania | |
| dc.contributor.author | Cakan, Abdullah | |
| dc.date.accessioned | 2021-12-13T10:32:16Z | |
| dc.date.available | 2021-12-13T10:32:16Z | |
| dc.date.issued | 2021 | |
| dc.description | Rahmaniar, Wahyu/0000-0002-6902-5455; Majdoubi, Rania/0000-0003-0967-5955; Nuryono, Aninditya Anggari/0000-0001-8841-6585 | en_US |
| dc.description.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. | en_US |
| dc.description.sponsorship | research fundamentals funding Universitas Ahmad Dahlan grant | en_US |
| dc.description.sponsorship | The author would like to deliver thanks to the editor and reviewer for their advice, suggestion, and comment. Also, for help, the manuscript until the manuscript is published. The research is support by part of research fundamentals funding Universitas Ahmad Dahlan grant. | en_US |
| dc.identifier.doi | 10.1109/COMNETSAT53002.2021.9530803 | |
| dc.identifier.isbn | 9781665434348 | |
| dc.identifier.scopus | 2-s2.0-85115666535 | |
| dc.identifier.uri | https://doi.org/10.1109/COMNETSAT53002.2021.9530803 | |
| dc.language.iso | en | en_US |
| dc.publisher | Ieee | en_US |
| dc.relation.ispartof | 10th IEEE International Conference on Communication, Networks and Satellite (IEEE COMNETSAT) -- JUL 17-18, 2021 -- ELECTR NETWORK | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Artificial Potential Field | en_US |
| dc.subject | Unmanned Aerial Vehicle | en_US |
| dc.subject | Path Planning | en_US |
| dc.subject | Obstacle Avoidance | en_US |
| dc.subject | Dynamic Environment | en_US |
| dc.title | Artificial Potential Field Algorithm for Obstacle Avoidance in Uav Quadrotor for Dynamic Environment | en_US |
| dc.type | Conference Object | en_US |
| dspace.entity.type | Publication | |
| gdc.author.id | Rahmaniar, Wahyu/0000-0002-6902-5455 | |
| gdc.author.id | Majdoubi, Rania/0000-0003-0967-5955 | |
| gdc.author.id | Nuryono, Aninditya Anggari/0000-0001-8841-6585 | |
| gdc.author.wosid | Ma'arif, Alfian/N-7401-2019 | |
| gdc.author.wosid | Nuryono, Aninditya/LEM-5492-2024 | |
| gdc.author.wosid | Majdoubi, Rania/ABD-2565-2021 | |
| gdc.author.wosid | Rahmaniar, Wahyu/ABE-8671-2021 | |
| gdc.author.wosid | CAKAN, ABDULLAH/P-1845-2018 | |
| gdc.author.wosid | Nuryono, Aninditya Anggari/LEM-5267-2024 | |
| gdc.bip.impulseclass | C4 | |
| gdc.bip.influenceclass | C4 | |
| gdc.bip.popularityclass | C4 | |
| gdc.coar.access | open access | |
| gdc.coar.type | text::conference output | |
| gdc.description.department | KTÜN | en_US |
| gdc.description.departmenttemp | [Ma'arif, Alfian] Univ Ahmad Dahlan, Yogyakarta, Indonesia; [Rahmaniar, Wahyu] Natl Cent Univ, Taoyuan, Taiwan; [Marquez Vera, Marco Antonio] Polytech Univ Pachuca, Pachuca, Mexico; [Nuryono, Aninditya Anggari] Univ Mulia, Balikpapan, Indonesia; [Majdoubi, Rania] Mohammed V Univ, Rabat, Morocco; [Cakan, Abdullah] Konya Tech Univ, Konya, Turkey | en_US |
| gdc.description.endpage | 189 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | N/A | |
| gdc.description.startpage | 184 | en_US |
| gdc.description.woscitationindex | Conference Proceedings Citation Index - Science | |
| gdc.description.wosquality | N/A | |
| gdc.identifier.openalex | W3201311488 | |
| gdc.identifier.wos | WOS:000852898300030 | |
| gdc.index.type | WoS | |
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| gdc.oaire.sciencefields | 0209 industrial biotechnology | |
| gdc.oaire.sciencefields | 0202 electrical engineering, electronic engineering, information engineering | |
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| gdc.scopus.citedcount | 41 | |
| gdc.virtual.author | Çakan, Abdullah | |
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