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All Journal IAES International Journal of Artificial Intelligence (IJ-AI) Jurnal Ilmu Pertanian Indonesia Agromet MANAJEMEN IKM: Jurnal Manajemen Pengembangan Industri Kecil Menengah Jurnal Pustakawan Indonesia FORUM STATISTIKA DAN KOMPUTASI Seminar Nasional Aplikasi Teknologi Informasi (SNATI) Jurnal Ilmu Komputer dan Informasi Jurnal Pembangunan Wilayah dan Kota Agrikultura Jurnal Keteknikan Pertanian Proceedings of KNASTIK TELKOMNIKA (Telecommunication Computing Electronics and Control) Jurnal Ilmu Komputer dan Agri-Informatika Forum Agribisnis SITEKIN: Jurnal Sains, Teknologi dan Industri Jurnal Teknologi Informasi dan Ilmu Komputer Journal of ICT Research and Applications Jurnal Pengelolaan Sumberdaya Alam dan Lingkungan (Journal of Natural Resources and Environmental Management) International Journal of Advances in Intelligent Informatics Jurnal Aplikasi Bisnis dan Manajemen (JABM) E-Journal Widyariset JOIN (Jurnal Online Informatika) Jurnal RESTI (Rekayasa Sistem dan Teknologi Informasi) Informatika Pertanian Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control JITK (Jurnal Ilmu Pengetahuan dan Komputer) Jurnal Informatika Universitas Pamulang Jurnal ULTIMATICS CYBERNETICS BHUMI: Jurnal Agraria dan Pertanahan Komputasi: Jurnal Ilmiah Ilmu Komputer dan Matematika JURNAL METEOROLOGI DAN GEOFISIKA Building of Informatics, Technology and Science Journal of Robotics and Control (JRC) Indonesian Journal of Electrical Engineering and Computer Science Computer Science and Information Technologies Jurnal Tanah dan Iklim Widyariset Aiti: Jurnal Teknologi Informasi Jurnal Pustakawan Indonesia Makara Journal of Science Eduvest - Journal of Universal Studies J-Icon : Jurnal Komputer dan Informatika Jurnal Sistem Informasi
Agus Buono
Department Of Computer Science, Faculty Of Mathematics And Natural Science, Bogor Agricultural University, Jalan Meranti, Kampus IPB Darmaga, Bogor 16680,
Aerospace Engineering Agriculture, Biological Sciences & Forestry Astronomy Automotive Engineering 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 Earth & Planetary Sciences Economics, Econometrics & Finance Electrical & Electronics Engineering Energy Engineering Environmental Science Health Professions Immunology & microbiology Industrial & Manufacturing Engineering Law, Crime, Criminology & Criminal Justice Library & Information Science Materials Science & Nanotechnology Mathematics Mechanical Engineering Neuroscience Physics Social Sciences Other

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Journal : Journal of Robotics and Control (JRC)

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Modified Q-Learning Algorithm for Mobile Robot Path Planning Variation using Motivation Model Hidayat, Hidayat; Buono, Agus; Priandana, Karlisa; Wahjuni, Sri
Journal of Robotics and Control (JRC) Vol 4, No 5 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i5.18777

Abstract

Path planning is an essential algorithm in autonomous mobile robots, including agricultural robots, to find the shortest path and to avoid collisions with obstacles. Q-Learning algorithm is one of the reinforcement learning methods used for path planning. However, for multi-robot system, this algorithm tends to produce the same path for each robot. This research modifies the Q-Learning algorithm in order to produce path variations by utilizing the motivation model, i.e. achievement motivation, in which different motivation parameters will result in different optimum paths. The Motivated Q-Learning (MQL) algorithm proposed in this study was simulated in an area with three scenarios, i.e. without obstacles, uniform obstacles, and random obstacles. The results showed that, in the determined scenario, the MQL can produce 2 to 4 variations of optimum path without any potential of collisions (Jaccard similarity = 0%), in contrast to the Q-Learning algorithm that can only produce one optimum path variation. This result indicates that MQL can solve multi-robots path planning problems, especially when the number of robots is large, by reducing the possibility of collisions as well as decreasing the problem of queues. However, the average computational time of the MQL is slightly longer than that of the Q-Learning.
Co-Authors Ade Fruandta Adi Rakhman Aditya Cipta Raharja Agung Prajuhana Putra Akhmad Faqih Alif Kurniawan Alvin Fatikhunnada Anang Kurnia Angga Wahyu Pratama Aries Maesya Arif Imam Suroso Arini Aha Pekuwali Arini Pekuwali Astuti, Indah Puji Atik Pawestri Sulistyo Aziz Kustiyo Aziz Rahmad Benyamin Kusumoputro Bib Paruhum Silalahi Budi Nugroho Cece Sumantri Dhany Nugraha Ramdhany Dian Kartika Utami Djaksana, Yan Mitha Edi Santosa Ekowati Handharyani Elisabeth Sri Hendrastuti Endang Purnama Giri Erliza Hambali Erliza Noor Ernan Rustiadi Fadhilah Syafria Fadhilah Syafria Fajar Delli Wihartiko Fildza Novadiwanti Firdaus, Husni Firmansyah Ibrahim Fredicia Fredicia Galih Kurniawan Sidik Galih Kurniawan Sidik Galih Kurniawan Sidik Gema Parasti Mindara Gendut Suprayitno Gita Adhani GUNARSO GUNARSO Hastuadi Harsa Herianto Herianto Hidayat Hidayat Hidayat I Wayan Astika Ibrahim, Firmansyah Iis Rodiah Imas Sukaesih Sitanggang Indah Prasasti Indah Puji Astuti Indah Puji Astuti Indra Jaya Inggih Permana Inna Noviyanti Irman Hermadi Irmansyah . Irsal Las Irsal Las ISKANDAR ZULKARNAEN SIREGAR Kana Saputra S Karlisa Priandana Kikin H Mutaqin Kudang Boro Seminar Laila Sari Lubis Laila Sari Lubis Lailan Syaufina Lidya Ningsih Liyantono . M. Cholid Mawardi M. Mukhlis Marcelita, Faldiena Medria Kusuma Dewi Hardhienata Mohamad Solahudin Muhammad Ardiansyah Muhammad Rafi Muttaqin Mushthofa Mustakim Mustakim Mustakim Mustakim Muttaqin, Muhammad Rafi Niswati, Za'imatun Nova Firdaus Nurhayati, Yosi Popong Nurhayati Pratistya, Sayu Desty Puspita Kartika Sari Puspita Kartika Sari Putri Yuli Utami Raharja, Aditya Cipta Rahmat Hidayat Rizal Syarief Rizaldi Boer Rizki, Arviani RR. Ella Evrita Hestiandari Santo, Deni Sanusi Sanusi Sari Agustini Hafman Savitri, Siska Sholihah, Walidatush Sidik, Galih Kurniawan Siregar, Ardinsyah Sitanggang, Imas S. Siti Kania Kushadiani Siti Raehan Sony Hartono Wijaya Sri Dianing Asri Sri Nurdiati Sri Wahjuni Stephane Douady Suharno Suharno Suharno Sumanto, Sumanto Syeiva Nurul Desylvia Taufik Djatna Thoyyibah Tanjung Toto Haryanto Trukan Sri Bahukeling Uliniansyah, Mohammad Teduh Vicky Zilvan Wisnu Ananta Kusuma Wisnu Jatmiko Woro Estiningtyas Woro Estiningtyas Woro Estiningtyas Yandra Arkeman Yenni Vetrita Yoanda, Sely