Improved Navigation of Wheeled Soccer Robots Using Artificial Potential Field with Escape Force

Masdika Aliman; Anugerah Wibisana; Mochamad Rizal Fauzi; Danni Syahputra; Kevin Indrawinata

doi:10.2991/978-94-6463-982-7_33

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Improved Navigation of Wheeled Soccer Robots Using Artificial Potential Field with Escape Force

Authors

Masdika Aliman¹^{, *}, Anugerah Wibisana¹, Mochamad Rizal Fauzi¹, Danni Syahputra¹, Kevin Indrawinata¹

¹Politeknik Negeri Batam, Batam, Kepulauan Riau, 29461, Indonesia

^*Corresponding author. Email: masdikaaliman@gmail.com

Corresponding Author

Masdika Aliman

Available Online 29 December 2025.

DOI: 10.2991/978-94-6463-982-7_33 How to use a DOI?
Keywords: Soccer Robot; Barelang63; Artificial Potential Field; Escape Force
Abstract: The Barelang63 team developed an autonomous wheeled soccer robot to participate in the Indonesian Robot Contest (KRI) in the KRSBI-Wheeled category, which independently requires object detection, motion planning, strategy, and communication capabilities. This research aims to apply the Artificial Potential Field (APF) method to the robot’s navigation system, focusing on obstacle avoidance efficiency and local minima problem-solving. The approach includes an omnidirectional camera for image capture, the YOLOv11 model for object detection, and odometry, integrated with APF modified through escape force. Testing was performed on static and dynamic obstacle scenes. Results indicated a distance detection accuracy of 0.053 m according to Root Mean Square Error (RMSE). The system achieved a 100% success rate with static obstacles, averaging 7.5 seconds, outperforming the standard APF’s 65%. In dynamic scenarios, success rates were 100% and 60% for two cases, whereas the standard APF only reached 40% and 10%. These findings demonstrate that escape force notably improves navigation, although further optimization is necessary.
Copyright: © 2025 The Author(s)
Open Access: Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Volume Title: Proceedings of the 8th International Conference on Applied Engineering (ICAE 2025)
Series: Advances in Engineering Research
Publication Date: 29 December 2025
ISBN: 978-94-6463-982-7
ISSN: 2352-5401
DOI: 10.2991/978-94-6463-982-7_33 How to use a DOI?
Open Access: Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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ris enw bib

TY  - CONF
AU  - Masdika Aliman
AU  - Anugerah Wibisana
AU  - Mochamad Rizal Fauzi
AU  - Danni Syahputra
AU  - Kevin Indrawinata
PY  - 2025
DA  - 2025/12/29
TI  - Improved Navigation of Wheeled Soccer Robots Using Artificial Potential Field with Escape Force
BT  - Proceedings of the  8th International Conference on Applied Engineering (ICAE 2025)
PB  - Atlantis Press
SP  - 535
EP  - 553
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-982-7_33
DO  - 10.2991/978-94-6463-982-7_33
ID  - Aliman2025
ER  -

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