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Herman Dwi Surjono
Universitas Negeri Yogayakarta
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Journal : Journal of Robotics and Control (JRC)

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Enhance Deep Reinforcement Learning with Denoising Autoencoder for Self-Driving Mobile Robot Pratama, Gilang Nugraha Putu; Hidayatulloh, Indra; Surjono, Herman Dwi; Sukardiyono, Totok
Journal of Robotics and Control (JRC) Vol 5, No 3 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i3.21713

Abstract

Over the past years, self-driving mobile robots have captured the interest of researchers, prompting exploration into their multifaceted implementation. They have the potential to revolutionize transportation by mitigating human error and reducing traffic accidents. The process of deploying self-driving mobile robots can be divided into several steps, such as algorithm design, simulation, and real-world application. This research paper presents a simulation using DonkeyCar on the Mini Monaco track, employing a Soft Actor-Critic (SAC) alongside a denoising autoencoder. At this point, it is limited to the simulation, serving as a proof of concept for further research with hardware implementation. The simulation verifies that relying solely on SAC for the convergence of policy is not sufficient; it yields a mean episode length of only 28.82 steps and a mean episode reward of 0.7815. The simulation ended after 3557 steps due to the inability of SAC alone to converge, without completing a single lap. Later, by integrating the denoising autoencoder, convergence of policy can be achieved. It enables DonkeyCar to adeptly track the lane of the circuit. The denoising autoencoder plays an important role in accelerating the convergence of transfer learning. Notably, the mean reward per episode reached 2380.4387, with an average episode length of 771.71 and a total of 114357 steps taken. DonkeyCar manages to complete several laps. These results affirm the effectiveness of SAC with a denoising autoencoder in enhancing the performance of self-driving mobile robots.
Co-Authors Abdul Haris Munandar Afdal, Zul Aji Purnomo, Fendi Akrom, Akrom Ali Muhtadi Ali Mustadi Almadina, Nazela Ulhaqy Anang Fathoni Anik Ghufron Arif Rahman Ariyanto S. Helianak Aurum, Emma Valensia Ayu Nuswantari Ayuriyanti, Siswi Dwi Bashir, Ashadi Bekti Wulandari Cahyandaru, Pramudya Cobena, Desy Yanty Deni Hardianto Dewi, Ayu Sandra Dian Wahyuningsih Disa Hediansah Dwi Widjanarko Dyah Respati Dyah Respati Suryo Sumunar Eko Marpanaji Fatchul Arifin Fendi Aji Purnomo, Fendi Aji Gilang Nugraha Putu Pratama Habib Hambali Heni Rita Susila Herminarto Sofyan Heru Amrul Mu'arif Hilyatush Shofa Huzaima Mas’ud Ibnu Siswanto Indra Hidayatulloh Irfan Adi Nugroho Jati, Prasetyawan Caesar Wijaya Ju-Ling Shih Kadarisman Tejo Yuwono Kadek Cahya Dewi Karuniawan, Yoga Khairah, Nurul Mahmud Al Haq Patwary, Mahmud Al Haq Mardian, Ari Martin Hartmann Marwanto, Eko Mashoedah Mashoedah Muhammad Ahmad Jumasa Muhammad Kholil Muhammad Rizky Putra Wadhana Muhyadi Muhyadi Munandar, Abdul Haris Niluh Putu Puri Palupi Sukenasa Novi Trilisiana Nurmiati, Euis Nuswantari, Ayu Priyanto Priyanto Priyanto, Priyanto Puput Tri Anggara Purmadi, Ary Putra, Anak Agung Adi Wiryya Putu Indah Ciptayani R. Hafid Hardyanto, R. Hafid Raekha Azka, Raekha Rama Faiz Pangestu Randy Irawan Restu Widiatmono Rifkisyahputra Rukiyati Rukiyati Safitri, Ria Rochmi Satria, Dadi Satrio Dwi Ananda Setyabudi Indartono Sigit Pambudi Siti Sumiyati Sri Sumardiningsih Sulis Triyono Suprapto Suprapto Surahman, Ence Sutirman Sutirman Totok Sukardiyono Tsabita, Latifah Victor Novianto Wahyu Kurniawati Wu, Ying-Tien Yadi, Farhan Yassin, Abdulnassir Ying-Tien Wu Zainal Arifin Zamroni Zamroni Ziaurrahman Ziaurrahman