| dc.contributor.author | ISWANTO, ISWANTO | |
| dc.date.accessioned | 2020-08-12T07:22:24Z | |
| dc.date.available | 2020-08-12T07:22:24Z | |
| dc.date.issued | 2018-08 | |
| dc.identifier.issn | 1973-7459 | |
| dc.identifier.uri | http://repository.umy.ac.id/handle/123456789/35404 | |
| dc.description | The study aims to present potential field algorithm for quadrotor path planning in an
unknown area. There are several problems found in quadrotor path planning including how to
reach the goal position quickly, avoid static obstacles and loca minima. To overcome the problem,
a modified potential force algorithm was used. Potential field algorithm is an algorithm consisting
an attractive force to move the quadrotor to the goal position and repulsive force to avoid
obstacles in the area. There are some obstacles with their repulsive force value is equal to their
attractive force resulting in no resultant force, and creating a local minima causing the quadrotor
stop. Hence, this study presented a modification of the potential field algorithm to be applied in
the quadrotor so that the quadrotor can avoid the loca minima. The proposed algorithm was
modified by making a virtual obstacle which has a repulsive force so that the resultant force is not
equal to zero and no local minima generated. Copyright © 2018 Praise Worthy Prize S.r.l. - All
rights reserved | en_US |
| dc.description.abstract | The study aims to present potential field algorithm for quadrotor path planning in an
unknown area. There are several problems found in quadrotor path planning including how to
reach the goal position quickly, avoid static obstacles and loca minima. To overcome the problem,
a modified potential force algorithm was used. Potential field algorithm is an algorithm consisting
an attractive force to move the quadrotor to the goal position and repulsive force to avoid
obstacles in the area. There are some obstacles with their repulsive force value is equal to their
attractive force resulting in no resultant force, and creating a local minima causing the quadrotor
stop. Hence, this study presented a modification of the potential field algorithm to be applied in
the quadrotor so that the quadrotor can avoid the loca minima. The proposed algorithm was
modified by making a virtual obstacle which has a repulsive force so that the resultant force is not
equal to zero and no local minima generated. Copyright © 2018 Praise Worthy Prize S.r.l. - All
rights reserved | en_US |
| dc.publisher | International Review of Aerospace Engineering (I.RE.AS.E) | en_US |
| dc.subject | Path Planning, Quadrotor, Local Minima, Potential Field, Avoid Obstacles | en_US |
| dc.title | AVOIDING LOCAL MINIMA FOR PATH PLANNING QUADROTOR BASED ON MODIFIED POTENTIAL FIELD | en_US |
| dc.type | Article | en_US |
