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Pujo Hari Saputro
Sam Ratulangi University
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Journal : international journal of robotics and control systems

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Enhanced Advanced Multi-Objective Path Planning (EAMOPP) for UAV Navigation in Complex Dynamic 3D Environments Airlangga, Gregorius; Bata, Julius; Nugroho, Oskar Ika Adi; Sugianto, Lai Ferry; Saputro, Pujo Hari; Makin, See Jong; Alamsyah, Alamsyah
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.v5i2.1759

Abstract

Unmanned Aerial Vehicles (UAVs) have emerged as vital tools in diverse applications, including disaster response, surveillance, and logistics. However, navigating complex, obstacle-rich 3D environments with dynamic elements remains a significant challenge. This study presents an Enhanced Advanced Multi-Objective Path Planning (EAMOPP) model designed to address these challenges by improving feasibility, collision avoidance, and path smoothness while maintaining computational efficiency. The proposed enhancement introduces a hybrid sampling strategy that combines random sampling with gradient-based adjustments and a refined cost function that prioritizes obstacle avoidance and path smoothness while balancing path length and energy efficiency. The EAMOPP was evaluated in a series of experiments involving dynamic environments with high obstacle density and compared against baseline algorithms, including A*, RRT*, Artificial Potential Field (APF), Particle Swarm Optimization (PSO), and Genetic Algorithm (GA). Results demonstrate that the EAMOPP achieves a feasibility score of 0.9800, eliminates collision violations, and generates highly smooth paths with an average smoothness score of 9.3456. These improvements come with an efficient average execution time of 6.6410 seconds, outperforming both traditional and heuristic-based methods. Visual analyses further illustrate the model's ability to navigate effectively through dynamic obstacle configurations, ensuring reliable UAV operation. Future research will explore optimizations to further enhance the model's applicability in real-world UAV missions.
Co-Authors A'yun, Riza Shinta Qurrota Aditiarno Manik Afny Rewur Ahmad Sulaiman Ahmad Sulaiman, Ahmad Airlangga, Gregorius Alamsyah - Allo, Yusi Meilany Kendek Amsy, M.R Mutawakkil Anas, Syukron Anisa Lia Viantina Arbiati Faizah Arbiati Faizah Arbiati Faizah Ardhyansyah Mualo Asep Rahman Audia Endondaya Kalambia Augusta Jannatul Firdaus Batubara, Saimarrasoki Bondan Wahyu Pamekas Dhina Puspasari Wijaya, Dhina Puspasari Djoko Budiyanto, Djoko Dyah Listianing Tyas, Dyah Listianing Dyah ListianingTyas Fajar Salinding Buntu Payuk Fatonah, Umti Fithratul Zalmi, Wahyuni Fransisca Joanet Pontoh Geraldy Kevin Gutama, Deden Hardan Henki Bayu Seta Herlino Nanang Izzatul Umami Jonathan Sitanggang Juan Natanel Makasunggal Julius Bata Kevin Leatemia Lazulfa, Indana Lintang Patria Lisa Wardiyana Luqmanul Hakim M Fadhel Nurmidin M.R Mutawakkil Amsy Makin, See Jong Michael Aristian Musthofa Galih Pradana Narulita Wulandari Nindy Irzavika Nita Silvianah Norris Elden Salassa Nugroho, Oskar Ika Adi Nur Arifin Nur Rachman Dzakiyullah Nurcahyo, Azriel Christian Olivia Maria Tumurang, Olivia Maria Paendong, Indah Prisilia Pontoh, Fransisca Joanet Reinhard Komansilan Rendy Syahputra Reza Augusta J.F Riza Shinta Qurrota A'yun Rizal Sengkey Rizal Sengkey Rouzi, Kana Safrina Roy, Andi Rumui, Nelson Rusiyono, Ruwet Saimarrasoki Batubara Sari, Susi Nopita Silvianah, Nita Siti Zubaidah Sitompul, Bernard Jumadi Dehotman Sri Seprianto Maddusa Sugianto, Lai Ferry Susi Nopita Sari Syaiful Imron Tumurang, Olivia Maria Tumurang Umti Fatonah Viantina, Anisa Lia Victor Tarigan Wahyuni Fithratul Zalmi Wahyuni Fithratul Zalmi Wardiyana, Lisa Widoyoningrum, Sri Wulandari, Narulita