Melola Discovery

← Melola Discovery

Journal SINTA 1

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

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

DOI
10.18196/jrc.v3i1.11528
ISSN
2715-5072, 2715-5056
Published
2022-01-19
Publisher
Universitas Muhammadiyah Yogyakarta
Language
eng

Abstract

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.

Keywords

Collaboration network of the authors

40 authors · 92 co-authorship links · showing the 40 most connected

Hover or tap a name to highlight its co-authors. Double-click to open the author's page.

  • Islamic Azad University, Tehran
  • Universitas Handayani Makassar
  • Affiliation unknown
  • Different organisations
  • Same organisation
  • Affiliation unknown
  • Thicker line = more joint articles · bigger circle = more articles
Show as table
Co-authorOrganisationJoint articles
Alfian Ma’arifAffiliation unknown6
Ian Mochamad SofianAffiliation unknown4
Zulkiffli SalehAffiliation unknown3
Mahmoud A. MossaAffiliation unknown3
Hamid ChojaaAffiliation unknown2
Furizal FurizalAffiliation unknown2
Riyan Kurnia DillahAffiliation unknown1
Taufik BarlianAffiliation unknown1
Wiwin Armoldo OktavianiAffiliation unknown1
Nugraha SyarifAffiliation unknown1
Aldiansyah AldiansyahAffiliation unknown1
Khoirul KarimAffiliation unknown1
Abhishek Kumar KashyapAffiliation unknown1
Dayal ParhiAffiliation unknown1
Suppermen SuppermenAffiliation unknown1
Arrofi MaulanaAffiliation unknown1
Iswanto IswantoAffiliation unknown1
Robbi RahimAffiliation unknown1
Yaya FinayaniAffiliation unknown1
Jassim AlhamidAffiliation unknown1
Ahmed Ramadhan Al-ObaidiAffiliation unknown1
Nia Maharani RaharjaAffiliation unknown1
Sugiyarta SugiyartaAffiliation unknown1
Reza AlayiAffiliation unknown1
Yaser EbazadehAffiliation unknown1
Ahmed Kadhim HadoAffiliation unknown1
Bashar S. BasharAffiliation unknown1
Musaddak Maher Abdul ZahraAffiliation unknown1
Galang Persada Nurani HakimAffiliation unknown1
Diah SeptiyanaAffiliation unknown1
Mahmoud ZadehbagheriIslamic Azad University, Tehran1
Rahim IldarabadiAffiliation unknown1
Mehdi AnsarifardAffiliation unknown1
Muhammad FuadUniversitas Handayani Makassar1
Faikul UmamAffiliation unknown1

Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.

Metadata source: OAI-PMH (metadata jurnal) https://journal.umy.ac.id/index.php/jrc/oai, first harvested 9 Nov 2026, last seen 9 Nov 2026.
Original metadata (oai_dc) 
<oai_dc:dc xmlns="http://www.openarchives.org/OAI/2.0/" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:oai_dc="http://www.openarchives.org/OAI/2.0/oai_dc/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/  http://www.openarchives.org/OAI/2.0/oai_dc.xsd">
	<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>