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All Journal Jurnal Jurusan Pendidikan Teknik Elektro Mechatronics, Electrical Power, and Vehicular Technology TRANSIENT: Jurnal Ilmiah Teknik Elektro Jurnal Simetris Elkom: Jurnal Elektronika dan Komputer Jurnal Teknik Elektro Emitor: Jurnal Teknik Elektro Jurnal Teknologi Elektro ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika PROtek : Jurnal Ilmiah Teknik Elektro CIRCUIT: Jurnal Ilmiah Pendidikan Teknik Elektro INOVTEK POLBENG Techne : Jurnal Ilmiah Elektroteknika Praxis : Jurnal Sains, Teknologi, Masyarakat dan Jejaring Jurnal Elektronika dan Telekomunikasi TELKA - Telekomunikasi, Elektronika, Komputasi dan Kontrol Jurnal Fokus Elektroda : Energi Listrik, Telekomunikasi, Komputer, Elektronika dan Kendali Jurnal Teknik Elektro Uniba (JTE Uniba) Fokus Elektroda: Energi Listrik, Telekomunikasi, Komputer, Elektronika dan Kendali) International Journal of Robotics and Control Systems Jurnal Listrik, Instrumentasi, dan Elektronika Terapan Jurnal Ilmiah Teknik Elektro Jurnal Rekayasa elektrika
Esa Apriaskar
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Agriculture, Biological Sciences & Forestry Humanities Biochemistry, Genetics & Molecular Biology Chemical Engineering, Chemistry & Bioengineering Chemistry Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Environmental Science Health Professions Industrial & Manufacturing Engineering Languange, Linguistic, Communication & Media Law, Crime, Criminology & Criminal Justice Public Health Other

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Collision Avoidance in Mini Autonomous Electric Vehicles Using Artificial Potential Fields for Outdoor Environment Saputro, Joko Slamet; Juliatama, Hanif Wisti; Adriyanto, Feri; Maghfiroh, Hari; Apriaskar, Esa
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1708

Abstract

The rapid advancement of technology is driving the transition toward Society 5.0, where intelligent transportation systems enhance safety, efficiency, and sustainability. One of the biggest challenges in transportation is the high frequency of vehicle accidents, with approximately 80% attributed to driver error. To mitigate this, Advanced Driver Assistance Systems (ADAS) have been developed to improve vehicle autonomy and reduce accidents. This research proposes a potential field-based collision avoidance system for autonomous vehicle navigation, where the vehicle and obstacles act as positive poles, repelling each other, while the target destination serves as a negative pole, attracting the vehicle. Experimental results demonstrate a GPS positioning error of 1.55 m with a 66% success rate and LiDAR sensor accuracy of 96.4%, exceeding the required 95% threshold. Obstacle avoidance was tested with two safety thresholds (2 m and 2.5 m) across single- and two-obstacle scenarios. The 2 m threshold resulted in shorter travel distances (16.406 m vs. 16.535 m for 2.5 m) and faster completion times (19.036 s vs. 19.144 s), while the 2.5 m threshold provided greater clearance. GPS accuracy was significantly influenced by HDOP values and satellite count, with lower HDOP improving trajectory precision. The system successfully adjusted its trajectory in response to obstacles, ensuring effective real-time navigation.
Co-Authors Adriyanto, Feri Afrizal Mayub Agim Tetuko Amelia, Ilya Andika Enggal Ramadhan Arief Bagus Dermawan Aris Triwiyatno Aryo Baskoro Utomo Bilqis, Viyola Lokahita Budi Bayu Murti Budi Setiyono Dani Suryana Setiyawan Dermawan, Arief Bagus Deva Okky Deltania Dhidik Prastiyanto Dinofa, Azrul Hanif Djuniadi . Djuniadi Djuniadi Dwi Haryo Wicaksono Fahmizal Fahmizal Fahmizal Fahmizal Fahmizal, Fahmizal Habib Alhaq Ika Cahyani Ilham, Dimas Alfarizky Indriyani, Devie Joko Mulyono Joko Slamet Saputro Juliatama, Hanif Wisti Khoirudin Fathoni, Khoirudin Maghfiroh, Hari Manaf, Akhyar Abdillah Mohammad Yasin Muammarul Imam Muhamad Rizal Wira Kusuma Muhammad Arrofiq Muhammad Fatih Azhari Asyauqi Muhammad Meidi NUGROHO, LUKMAN SIDIQ Photong, Chonlatee Pradana, Wisnu Aldy Rendra Dwi Firmansyah Salim, Nur Azis Satria, Rifki Lukman Sulistyawan, Vera Noviana Syahroni Hidayat Tetuko, Agim Tika Erna Putri Tirza Sarwono