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Title: Artificial Potential Field Algorithm for Obstacle Avoidance in UAV Quadrotor for Dynamic Environment
Authors: Maarif, A.
Rahmaniar, W.
Vera, M.A.M.
Nuryono, A.A.
Majdoubi, R.
Çakan, Abdullah
Keywords: Artificial Potential Field
Dynamic Environment
Obstacle Avoidance
Path Planning
Unmanned Aerial Vehicle
Issue Date: 2021
Publisher: Institute of Electrical and Electronics Engineers Inc.
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. © 2021 IEEE.
Description: 10th IEEE International Conference on Communication, Networks and Satellite, Comnetsat 2021 -- 17 July 2021 through 18 July 2021 -- -- 171657
ISBN: 9781665434348
Appears in Collections:Mühendislik ve Doğa Bilimleri Fakültesi Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collections

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