Artificial Potential Field Algorithm Implementation for Quadrotor Path Planning
Journal Title: International Journal of Advanced Computer Science & Applications - Year 2019, Vol 10, Issue 8
Abstract
Potential field algorithm introduced by Khatib is well-known in path planning for robots. The algorithm is very simple yet provides real-time path planning and effective to avoid robot’s collision with obstacles. The purpose of the paper is to implement and modify this algorithm for quadrotor path planning. The conventional potential method is firstly applied to introduce challenging problems, such as not reachable goals due to local minima solutions or nearby obstacles (GNRON). This will be solved later by proposed modified algorithms. The first proposed modification is by adding virtual force to the repulsive potential force to prevent local minima solutions. Meanwhile, the second one is to prevent GNRON issue by adding virtual force and considering quadrotor’s distance to goal point on the repulsive potential force. The simulation result shows that the second modification is best applied to environment with GNRON issue whereas the first one is suitable only for environment with local minima traps. The first modification is able to reach goals in six random tests with local minima environment. Meanwhile, the second one is able to reach goals in six random tests with local minima environment, six random tests with GNRON environment, and six random tests with both local minima and GNRON environment.
Authors and Affiliations
Iswanto Iswanto, Alfian Ma’arif, Oyas Wahyunggoro, Adha Imam Cahyadi
A Watermarking System Architecture using the Cellular Automata Transform for 2D Vector Map
Technological advancement, paired with the emergence of increasingly open and sophisticated communication systems, has contributed to the growing complexity of copyright protection and ownership identification for digita...
Multi-Domain Modeling and Simulation of an Aircraft System for Advanced Vehicle-Level Reasoning Research and Development
In this paper, we describe a simulation based health monitoring system test-bed for aircraft systems. The purpose of the test-bed is to provide a technology neutral basis for implementing and evaluation of reasoning syst...
LINK-BUDGET DESIGN AND ANALYSIS SHOWING IMPULSE-BASED UWB PERFORMANCE TRADE-OFF FLEXIBILITY AS INTEGRATOR SOLUTION FOR DIFFERENT WIRELESS SHORT-RANGE INFRASTRUCTURES
Future wireless indoor scenarios are expected to be complex requiring wireless nodes to adaptive responding to dynamic changes according to channel conditions. Interacting with neighboring nodes to achieve optimized perf...
Semantic based Data Integration in Scientific Workflows
Data Integration has become the most prominent aspect of data management applications, especially in scientific domains like ecology, biology, and geosciences. Today’s complex scientific applications and the rise of dive...
Multi-criteria Intelligent Algorithm for Supply Chain Management
In most societies, supply chain management and e-procurement processes, are one of the cornerstones of any economy and a primary influencer on people’s lives. Providing these communities with their different commodity ne...