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All Journal Journal of ICT Research and Applications JOIV : International Journal on Informatics Visualization
Judhi Santoso, Judhi
Sekolah Teknik Elektro Dan Informatika, Institut Teknologi Bandung Jalan Ganesha 10, Bandung 40132, Indonesia
Computer Science & IT

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Dynamic Path Planning for Mobile Robots with Cellular Learning Automata Judhi Santoso; Bambang Riyanto; Widyawardhana Adiprawita
Journal of ICT Research and Applications Vol. 10 No. 1 (2016)
Publisher : LPPM ITB

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5614/itbj.ict.res.appl.2016.10.1.1

Abstract

In this paper we propose a new approach to path planning for mobile robots with cellular automata and cellular learning automata. We divide the planning into two stages. In the first stage, global path planning is performed by cellular automata from an initial position to a goal position. In this stage, the minimum distance is computed. To compute the path, we use a particular two-dimensional cellular automata rule. The process of computation is performed using simple arithmetic operations, hence it can be done efficiently. In the second stage, local planning is used to update the global path. This stage is required to adapt to changes in a dynamic environment. This planning is implemented using cellular learning automata to optimize performance by collecting information from the environment. This approach yields a path that stays near to the obstacles and therefore the total time and distance to the goal can be optimized.
Automatic Weight of Color, Texture, and Shape Features in Content-Based Image Retrieval Using Artificial Neural Network Akmal Akmal; Rinaldi Munir; Judhi Santoso
JOIV : International Journal on Informatics Visualization Vol 7, No 3 (2023)
Publisher : Politeknik Negeri Padang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30630/joiv.7.3.1184

Abstract

Image retrieval is the process of finding images in the database that are similar to the query image by measuring how close the feature values of the query image are to other images. Image retrieval is currently dominated by approaches that combine several different representations or features. The optimal weight of each feature is needed in combining the image features such as color features, texture features, and shape features. In this study, we use a multi-layer perceptron artificial neural network (MLP) method to obtain feature weights automatically and simultaneously look for optimal weights. The color moment is used to find nine color features, Gray Level Co-occurrence Matrix (GLCM) to find four texture features, and Hu Moment to find seven shape features totaling 20 neurons and all of these features become the input layer in our MLP network. Three neurons in output layers become the automatic weight of each feature. These weights are used to combine each feature's role in obtaining the relevant image. Euclidean Distance is used to measure similarity. The average precision values obtained using automatic feature weights are 93.94% for the synthetic dataset, 91.19% for the Coil-100 dataset, and 54.31% for the Wang dataset. These results have an average difference of 5.06% with the target so automatic feature weighting works well. This value is obtained at a hidden layer size of 11 and a learning rate of 0.1. In addition, the use of automatic feature weighting gives more accurate results compared to manual feature weighting.
Co-Authors Akmal Akmal Bambang Riyanto Rinaldi Munir Widyawardhana Adiprawita