TY - GEN
T1 - Optimized Artificial Potential Fields for Obstacle Avoidance of Unmanned Aerial Vehicles
AU - Hidayat, Zulkifli
AU - Sahal, Mochammad
AU - Bilfaqih, Yusuf
AU - Kurniawan, Faiz Ahmad
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - The obstacle avoidance method for unmanned aerial vehicles is presented in this paper. Obstacle avoidance is a crucial ability necessary in the operation of autonomous vehicles when they are required to follow a path that passes obstacles. The artificial potential field (APF) algorithm is a path-planning algorithm developed in robotics that allows the avoidance of static obstacles. In this paper, the optimized APF has been applied. The optimized APF has an advantage over the classic APF, namely, avoiding local minima and unreached targets. It can be shown that the algorithm has been successfully applied in simulation to perform obstacle avoidance in several scenarios.
AB - The obstacle avoidance method for unmanned aerial vehicles is presented in this paper. Obstacle avoidance is a crucial ability necessary in the operation of autonomous vehicles when they are required to follow a path that passes obstacles. The artificial potential field (APF) algorithm is a path-planning algorithm developed in robotics that allows the avoidance of static obstacles. In this paper, the optimized APF has been applied. The optimized APF has an advantage over the classic APF, namely, avoiding local minima and unreached targets. It can be shown that the algorithm has been successfully applied in simulation to perform obstacle avoidance in several scenarios.
KW - artificial potential fields
KW - obstacle avoidance
KW - path planning
KW - unmanned aerial vehicles
UR - http://www.scopus.com/inward/record.url?scp=85186507559&partnerID=8YFLogxK
U2 - 10.1109/ICAMIMIA60881.2023.10427580
DO - 10.1109/ICAMIMIA60881.2023.10427580
M3 - Conference contribution
AN - SCOPUS:85186507559
T3 - 2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings
BT - 2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023
Y2 - 14 November 2023 through 15 November 2023
ER -
