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Ar-Drone Navigation Based on Laser Sensor and Potential Field Algorithm

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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.
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Ar-Drone; Laser Sensor; Artificial Potential Field; Navigation

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