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Avoiding Local Minima for Path Planning Quadrotor Based on Modified Potential Field


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DOI: https://doi.org/10.15866/irease.v11i4.14438

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.
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Keywords


Path Planning; Quadrotor; Local Minima; Potential Field; Avoid Obstacles

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References


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