Artificial Potential Field Algorithm for Obstacle Avoidance in UAV Quadrotor for Dynamic Environment

Alfian Ma’Arif,Wahyu Rahmaniar,Marco Antonio Márquez Vera,Aninditya Anggari Nuryono,Rania Majdoubi,Abdullah Çakan

2021 IEEE International Conference on Communication, Networks and Satellite (COMNETSAT)（2021）

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摘要

Artificial potential field (APF) is the effective real-time guide, navigation, and obstacle avoidance for UAV Quadrotor. The main problem in APF is local minima in an obstacle or multiple obstacles. In this paper, some modifications and improvements of APF will be introduced to solve one-obstacle local minima, two-obstacle local minima, Goal Not Reachable Near Obstacle (GNRON) and dynamic obstacle...

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关键词

Satellites,Heuristic algorithms,Conferences,Force,Dynamics,Satellite navigation systems,Real-time systems

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