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All Journal Bulletin of Electrical Engineering and Informatics Telematika : Jurnal Informatika dan Teknologi Informasi Jurnal Teknologi Informasi dan Ilmu Komputer International Journal of Advances in Intelligent Informatics Eksos LPPM Techno LPPM Seminar Nasional Informatika (SEMNASIF) Proceeding of the Electrical Engineering Computer Science and Informatics Jurnal Mineral, Energi dan Lingkungan Compiler Jurnal Ilmiah Lingkungan Kebumian Jurnal Mineral, Energi dan Lingkungan Teknika IEJST (Industrial Engineering Journal of the University of Sarjanawiyata Tamansiswa) Science in Information Technology Letters Industrial Research Workshop and National Seminar Jurnal Pengabdian Literasi Digital Indonesia Jurnal Pendidikan Geosfer Bulletin of Social Informatics Theory and Application Globe: Publikasi Ilmu Teknik, Teknologi Kebumian, Ilmu Perkapalan
Awang Hendrianto Pratomo
(SCOPUS ID 35174983600, Universitas Pembangunan Nasional Veteran Yogyakarta), Indonesia
Humanities Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Earth & Planetary Sciences Education Electrical & Electronics Engineering Energy Engineering Environmental Science Industrial & Manufacturing Engineering Mechanical Engineering Social Sciences Other

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Journal : International Journal of Advances in Intelligent Informatics

 1 
Dynamic path planning using a modified genetic algorithm Pratomo, Awang Hendrianto; Wahyunggoro, Oyas; Triharminto, Hendri Himawan
International Journal of Advances in Intelligent Informatics Vol 10, No 3 (2024): August 2024
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26555/ijain.v10i3.699

Abstract

Genetic algorithm (GA) is well-known algorithm to find a feasible path planning which can be defined as global optimum problem. The drawback of GA is the high computation due to random process on each operator.  In this research, the new initial population integrating with new crossover operator strategy was proposed. The parameter is the length of distance travelled of the robot. Before employing the crossover operator, generating a c-obstacle have been done. The c-obstacle is used  as a filter to reduce unnecessary nodes to decrease time computation. After that, the initial population has been determined. The initial population is divided into two parents which parent’s chromosome contains an initial and goal position. The second parents are fulfilled with nodes from each obstacle. The genes of chromosome will add with c-obstacle nodes. Crossover operator is applied after filtering and c-obstacle of possible hopping is determined. Filtering method is used to remove unnecessary nodes that are part of c-obstacle. Fitness function considers the distance from  the last to next position. Optimum value is the shortest distance of path planning which avoids the obstacle in front.  The aim of the proposed method is to reduce the random population and random operating in GA. By using a similar data set of previous researches, the modified GA can reduce the total of generation and yield an adaptive generation number. This means that the modified GA converges faster than the other GA methods.
Co-Authors Abdur Rahman, Hafidz Fajar Agung Yulianto Nugroho Agung Yulianto Nugroho Agus Ristono Agusdin, Riza Prapascatama Alamin, Duta Alek Setiyo Nugroho Anak Agung Istri Sri Wiadnyani Andiko Putro Suryotomo Anton Satria Prabuwono Anton Satria Prabuwono Arif Rianto Budi Nugroho Arif Rianto Budi Nugroho Augyeris Lioga Seandrio B Ihsan Balza Ahmad Bambang Yuwono Danang Arif Rahmanda Dessyanto Boedi Prasetyo Dimas Candra Nugraha Putra Eko Teguh Paripurno Eko Teguh Paripurno Ficky Adi Kurniawan Ficky Adi Kurniawan Frans Richard Kodong Granitia Septirina Junaedi H H Triharminto Hafidz Fajar Abdur Rahman Hafidz Fajar Abdur Rahman, Hafidz Fajar Abdur Heru Cahya Rustamaji Heru Cahya Rustamaji Heru Cahya Rustamaji Hidayatulah Himawan Indra Aprillinfanteri Army Johan Danu Prasetya Kahiruddin Omar Khairuddin Omar Kusmendar, Kusmendar Leonel Hernandez Mangaras Yanu F Mochammad Assofa Indera Jati Mohd Shanudin Zakaria Mohd Shanudin Zakaria Muhadjir Fachrurradjie Muhammad Arif Wijaya Muhammad Rifai Samekta Adi Nandra Eko Nugroho Nidya Indah Sari Nur Heri Cahyana Nur Heri Cahyana Nur Heri Cahyana Nur Heri Cahyana Nuryono Satya Widodo Nuryono Setya Widodo Nuryono Setyo Widodo Oliver Samuel Simanjuntak Oyas Wahyunggoro Prasetya, Johan Danu Puji Pratiknyo Purwoto Purwoto Putra, Dimas Candra Nugraha Rachmad, Faiz Rafly Pradana Putra Rifki Indra Perwira Sabihaini Sabihaini Saifullah, Shoffan Septi Nur Indrawati Setiyo Hartato Setiyo Hartato M Siti Mu'arifah Siti Norul Huda Seikh Abdullah Siti Norul Huda Syeikh Abdullah Sudaryatie Sudaryatie Susilastuti Dwi Nugraha Jati Tahalea, Sylvert Prian Tejo Pramono Triharminto, Hendri Himawan Wahyu Sugeng Triadi Wilis Kaswidjanti Wilis Kaswidjanti Wilis Kaswidjanti Wilis Kaswidjanti Wiratama Putra Y I Sania Yenni Sri Utami Yuli Fauziah