| dc.contributor.author | ISWANTO, ISWANTO | |
| dc.date.accessioned | 2020-08-12T07:24:05Z | |
| dc.date.available | 2020-08-12T07:24:05Z | |
| dc.date.issued | 2018-12 | |
| dc.identifier.issn | 1973-7459 | |
| dc.identifier.uri | http://repository.umy.ac.id/handle/123456789/35405 | |
| dc.description | The paper’s objective is to present potential field algorithm combined with laser
sensor for Ar-drone navigation in the environment that is not recognized. In a navigation, several
problems need to overcome such as how to quickly reach the goal point, avoid static and dynamic
obstacles and escape local minima. The potential field algorithm is an algorithm which has both
attractive force and repulsive force used to reach the goal point and avoid obstacles. There are
some obstacles which have an equal value between the attractive and the repulsive forces resulting
in zero value force causing the quadrotor stop. Hence, this paper describes the use of laser
sensors on quadrotor and the modification of the potential field algorithm, so it can avoid the
local minima. In the proposed algorithm, the repulsion force of the local minima has been
modified by using the mid point of the obstacle enabling the quadrotor to reach the goal point
quickly and avoid obstacles in the form of dynamic and static obstacles and escape local minima.
Copyright © 2018 Praise Worthy Prize S.r.l. - All rights reserved. | en_US |
| dc.description.abstract | The paper’s objective is to present potential field algorithm combined with laser
sensor for Ar-drone navigation in the environment that is not recognized. In a navigation, several
problems need to overcome such as how to quickly reach the goal point, avoid static and dynamic
obstacles and escape local minima. The potential field algorithm is an algorithm which has both
attractive force and repulsive force used to reach the goal point and avoid obstacles. There are
some obstacles which have an equal value between the attractive and the repulsive forces resulting
in zero value force causing the quadrotor stop. Hence, this paper describes the use of laser
sensors on quadrotor and the modification of the potential field algorithm, so it can avoid the
local minima. In the proposed algorithm, the repulsion force of the local minima has been
modified by using the mid point of the obstacle enabling the quadrotor to reach the goal point
quickly and avoid obstacles in the form of dynamic and static obstacles and escape local minima.
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 | Ar-Drone, Laser Sensor, Artificial Potential Field, Navigation | en_US |
| dc.title | AR-DRONE NAVIGATION BASED ON LASER SENSOR AND POTENTIAL FIELD ALGORITHM | en_US |
| dc.type | Article | en_US |
