Unmanned Ground Vehicle navigation remains a critical challenge in dynamic and unstructured environments. This paper proposes an Adaptive Beta-Weighted Force Field method for real-time obstacle avoidance, in which the repulsive force coefficient adapts continuously based on obstacle distance, velocity, and type classification. Unlike conventional fixedweight force field approaches, the proposed method modulates the repulsive gain proportionally to proximity and mobility of each detected obstacle, enabling the vehicle to respond conservatively at range while reacting at close encounters. Three configurations are evaluated through simulation: a fixed variedweight baseline, a fixed uniform-weight control, and the proposed adaptive-weight method, all tested under identical obstacle environments combining static and dynamic obstacles with an A-star global planner. Results demonstrate that the adaptive method achieves the fastest navigation completion while maintaining stable and smooth force behavior throughout the trajectory. The avoidance force variability is substantially reduced compared to both baselines, indicating smoother motion generation. Path efficiency remains comparable across all methods, confirming that adaptive weight modulation improves navigation speed and force stability without sacrificing safety or path quality. The adaptive method achieves a navigation time of 17.20 seconds, a mean avoidance force of 2.848 N, and a force standard deviation of 4.361 N, representing a 22% reduction in travel time and 74% reduction in force variability compared to the fixed-weight baseline, while maintaining a path following efficiency of 96.6%.
Muhammad Aqil Rayhan Majid, Mochammad Sahal, Ari Santoso· International Seminar on Int...· 0 citations
Single-phase-to-ground faults are the most common disturbances in 70 kV transmission systems and are generally temporary. However, the continued use of Three-Pole Auto-Reclosing (TPAR) causes all phases to be disconnected even when only one phase is affected, which reduces system reliability and continuity of supply. This study evaluates the application of Single-Pole Auto-Reclosing (SPAR) in a 70 kV transmission network employing a High Resistance Grounding (HRG) scheme through comprehensive simulations that consider Critical Clearing Time (CCT), power surge characteristics, and secondary arc behavior under various operating conditions. The results demonstrate that SPAR can improve system recovery and maintain transient stability during temporary faults. Nevertheless, high overvoltage observed in certain transmission lines produces significant generator oscillations, which limits the applicability of SPAR in those sections. The results show that CCT values ranged from 224 ms to more than 5 s depending on fault location, indicating sufficient transient stability margins. Secondary arc currents were observed in the range of 1.2–1.77 A, significantly below the typical extinction threshold of 20 A, suggesting a high probability of successful arc extinction. However, power surge analysis revealed critical limitations leading to significant generator oscillations. As a result, SPAR was found to be feasible for only 1 out of 5 transmission lines, while the remaining lines were restricted due to excessive transient response. In addition, the performance of SPAR is strongly influenced by the successful extinction of secondary arcs and proper coordination of Directional Ground Relay (DGR), where the relay acts as a comparator to distinguish between unbalanced load conditions and actual ground faults. Therefore, the implementation of SPAR in HRG-based 70 kV systems must be carried out selectively by considering system stability, overvoltage limits, and protection coordination to ensure reliable and secure operation.
Mochamad Ardi Arsuwenda, R. S. Wibowo, Mochammad Sahal· International Seminar on Int...· 0 citations
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