期刊名称：International Journal of Advanced Computer Science and Applications(IJACSA)
印刷版ISSN：2158-107X
电子版ISSN：2156-5570
出版年度：2019
卷号：10
期号：8
页码：575-585
出版社：Science and Information Society (SAI)
摘要：Potential field algorithm introduced by Khatib is
well-known in path planning for robots. The algorithm is very
simple yet provides real-time path planning and effective to
avoid robot’s collision with obstacles. The purpose of the paper
is to implement and modify this algorithm for quadrotor path
planning. The conventional potential method is firstly applied to
introduce challenging problems, such as not reachable goals due
to local minima solutions or nearby obstacles (GNRON). This
will be solved later by proposed modified algorithms. The first
proposed modification is by adding virtual force to the repulsive
potential force to prevent local minima solutions. Meanwhile,
the second one is to prevent GNRON issue by adding virtual
force and considering quadrotor’s distance to goal point on the
repulsive potential force. The simulation result shows that the
second modification is best applied to environment with GNRON
issue whereas the first one is suitable only for environment with
local minima traps. The first modification is able to reach goals
in six random tests with local minima environment. Meanwhile,
the second one is able to reach goals in six random tests
with local minima environment, six random tests with GNRON
environment, and six random tests with both local minima and
GNRON environment.
关键词：Quadrotor; path planning; GNRON (Goal Nonreachable with Obstacles Nearby); artificial potential field; local
minima
