Optimized Artificial Potential Fields for Obstacle Avoidance of Unmanned Aerial Vehicles

Zulkifli Hidayat; Mochammad Sahal; Yusuf Bilfaqih; Faiz Ahmad Kurniawan

doi:10.1109/ICAMIMIA60881.2023.10427580

Optimized Artificial Potential Fields for Obstacle Avoidance of Unmanned Aerial Vehicles

Zulkifli Hidayat
, Mochammad Sahal^*
, Yusuf Bilfaqih
, Faiz Ahmad Kurniawan

^*Corresponding author for this work

Institut Teknologi Sepuluh Nopember

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350309225
DOIs	https://doi.org/10.1109/ICAMIMIA60881.2023.10427580
Publication status	Published - 2023
Event	2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Lombok, Indonesia Duration: 14 Nov 2023 → 15 Nov 2023

Publication series

Name	2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings

Conference

Conference	2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023
Country/Territory	Indonesia
City	Lombok
Period	14/11/23 → 15/11/23

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

artificial potential fields
obstacle avoidance
path planning
unmanned aerial vehicles

Access to Document

10.1109/ICAMIMIA60881.2023.10427580

Cite this

Hidayat, Z., Sahal, M., Bilfaqih, Y., & Kurniawan, F. A. (2023). Optimized Artificial Potential Fields for Obstacle Avoidance of Unmanned Aerial Vehicles. In 2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings (2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICAMIMIA60881.2023.10427580

Hidayat, Zulkifli ; Sahal, Mochammad ; Bilfaqih, Yusuf et al. / Optimized Artificial Potential Fields for Obstacle Avoidance of Unmanned Aerial Vehicles. 2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings).

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title = "Optimized Artificial Potential Fields for Obstacle Avoidance of Unmanned Aerial Vehicles",

abstract = "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.",

keywords = "artificial potential fields, obstacle avoidance, path planning, unmanned aerial vehicles",

author = "Zulkifli Hidayat and Mochammad Sahal and Yusuf Bilfaqih and Kurniawan, \{Faiz Ahmad\}",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 ; Conference date: 14-11-2023 Through 15-11-2023",

year = "2023",

doi = "10.1109/ICAMIMIA60881.2023.10427580",

language = "English",

series = "2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings",

address = "United States",

}

Hidayat, Z , Sahal, M , Bilfaqih, Y & Kurniawan, FA 2023, Optimized Artificial Potential Fields for Obstacle Avoidance of Unmanned Aerial Vehicles. in 2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings. 2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings, Institute of Electrical and Electronics Engineers Inc., 2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023, Lombok, Indonesia, 14/11/23. https://doi.org/10.1109/ICAMIMIA60881.2023.10427580

Optimized Artificial Potential Fields for Obstacle Avoidance of Unmanned Aerial Vehicles. / Hidayat, Zulkifli ; Sahal, Mochammad ; Bilfaqih, Yusuf et al.
2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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 - https://www.scopus.com/pages/publications/85186507559

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 -

Hidayat Z , Sahal M , Bilfaqih Y, Kurniawan FA. Optimized Artificial Potential Fields for Obstacle Avoidance of Unmanned Aerial Vehicles. In 2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2023. (2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings). doi: 10.1109/ICAMIMIA60881.2023.10427580

Optimized Artificial Potential Fields for Obstacle Avoidance of Unmanned Aerial Vehicles

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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