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Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot

Journal of Robotics and Control (JRC) · Vol. 3 No. 1 (2022) · hlm. 107–114

DOI
10.18196/jrc.v3i1.11528
ISSN
2715-5072, 2715-5056
Terbit
2022-01-19
Penerbit
Universitas Muhammadiyah Yogyakarta
Bahasa
eng

Abstrak

The disinfection robot is a virus-sterilizing robot that uses a nonholonomic robot model. Route planning algorithms are needed to allow disinfection robots to sterilize rooms in unknown areas and perform the task while navigating using a potential field algorithm. There is a problem applying the algorithm to nonholonomic robots: avoiding obstacles. The proposed route planning algorithm has been transformed into a potential force used to plan the path of disinfection robots in static and dynamic environments and environments with static obstacles. A potential field algorithm is used. There are some issues when the potential force algorithm is applied to nonholonomic disinfection robots in the area. Like any other robot, it takes a long time to avoid static obstacles. Therefore, this paper proposed a potential force algorithm that allows a robot to move towards a target point while avoiding static obstacles. The algorithm showed that a modified potential field algorithm with potential force could be applied to differential-driven robots for path planning. The disinfection robot could avoid obstacles with a faster response using this algorithm.

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  • Universitas Muhammadiyah Palembang
  • Muhammadiyah University of Yogyakarta
  • National Institute of Technology Rourkela
  • Islamic Azad University, Tehran
  • Islamic Azad University Yasuj
  • Universitas Trunodjoyo Madura
  • Université Hassan 1er
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Rekan penulisOrganisasiArtikel bersama
Alfian Ma’arifUniversitas Ahmad Dahlan4
Ian Mochamad SofianAfiliasi tidak diketahui4
Zulkiffli SalehUniversitas Muhammadiyah Palembang3
Mahmoud A. MossaMinia University2
Taufik BarlianUniversitas Muhammadiyah Palembang2
Nugraha SyarifUniversitas Muhammadiyah Palembang2
Riyan Kurnia DillahUniversitas Muhammadiyah Palembang1
Khoirul KarimUniversitas Muhammadiyah Palembang1
Aldiansyah AldiansyahUniversitas Muhammadiyah Palembang1
Abhishek Kumar KashyapNational Institute of Technology Rourkela1
Dayal Ramakrushna ParhiNational Institute of Technology Rourkela1
Suppermen SuppermenUniversitas Muhammadiyah Palembang1
Arrofi MaulanaUniversitas Muhammadiyah Palembang1
Iswanto IswantoMuhammadiyah University of Yogyakarta1
Robbi RahimUniversiti Malaysia Perlis1
Yaya FinayaniAfiliasi tidak diketahui1
Jassim O. AlhamidWashington State University Tri-Cities1
Ahmed Ramadhan Al‐ObaidiMustansiriyah University1
Nia Maharani RaharjaMuhammadiyah University of Yogyakarta1
Sugiyarta SugiyartaAfiliasi tidak diketahui1
Reza AlayiIslamic Azad University, Tehran1
Yaser EbazadehIslamic Azad University, Tehran1
Ahmed Kadhim HadoUniversity of Warith Al-Anbiyaa1
Bashar S. BasharAl-Nisour University1
Musaddak Maher Abdul ZahraAl-Mustaqbal University1
Galang P. N. HakimMercu Buana University1
Diah SeptiyanaUniversitas Muhammadiyah Tangerang1
Mahmoud ZadehbagheriIslamic Azad University Yasuj1
Rahim IldarabadiHakim Sabzevari University1
Mehdi AnsarifardIslamic Azad University Yasuj1
Wahyu CaesarendraUniversiti Brunei Darussalam1
Faikul UmamUniversitas Trunodjoyo Madura1
Muhammad FuadUniversitas Trunodjoyo Madura1
Azeddine LoulijatUniversité Hassan 1er1
Sarah AbboudUniversité Hassan 1er1

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Sumber metadata: OAI-PMH (metadata jurnal) https://journal.umy.ac.id/index.php/jrc/oai, pertama di-harvest 9 Nov 2026, terakhir terlihat 9 Nov 2026.
Metadata asli (oai_dc) 
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	<dc:title xml:lang="en-US">Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot</dc:title>
	<dc:creator>Suwarno, Iswanto</dc:creator>
	<dc:creator>Oktaviani, Wiwin A.</dc:creator>
	<dc:creator>Apriani, Yosi</dc:creator>
	<dc:creator>Rijalusalam, Dhiya Uddin</dc:creator>
	<dc:creator>Pandey, Anish</dc:creator>
	<dc:subject xml:lang="en-US">global positioning system</dc:subject>
	<dc:subject xml:lang="en-US">car safety</dc:subject>
	<dc:subject xml:lang="en-US">microcontroller</dc:subject>
	<dc:description xml:lang="en-US">The disinfection robot is a virus-sterilizing robot that uses a nonholonomic robot model. Route planning algorithms are needed to allow disinfection robots to sterilize rooms in unknown areas and perform the task while navigating using a potential field algorithm. There is a problem applying the algorithm to nonholonomic robots: avoiding obstacles. The proposed route planning algorithm has been transformed into a potential force used to plan the path of disinfection robots in static and dynamic environments and environments with static obstacles. A potential field algorithm is used. There are some issues when the potential force algorithm is applied to nonholonomic disinfection robots in the area. Like any other robot, it takes a long time to avoid static obstacles. Therefore, this paper proposed a potential force algorithm that allows a robot to move towards a target point while avoiding static obstacles. The algorithm showed that a modified potential field algorithm with potential force could be applied to differential-driven robots for path planning. The disinfection robot could avoid obstacles with a faster response using this algorithm.</dc:description>
	<dc:publisher xml:lang="en-US">Universitas Muhammadiyah Yogyakarta</dc:publisher>
	<dc:date>2022-01-19</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://journal.umy.ac.id/index.php/jrc/article/view/11528</dc:identifier>
	<dc:identifier>10.18196/jrc.v3i1.11528</dc:identifier>
	<dc:source xml:lang="en-US">Journal of Robotics and Control (JRC); Vol. 3 No. 1 (2022): January; 107-114</dc:source>
	<dc:source>2715-5072</dc:source>
	<dc:source>2715-5056</dc:source>
	<dc:source>10.18196/jrc.v3i1</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://journal.umy.ac.id/index.php/jrc/article/view/11528/7040</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2022 Iswanto Suwarno</dc:rights>
</oai_dc:dc>