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Journal : Journal of Robotics and Control (JRC)

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 A.A.G. Sudewa Agus Buono Alfiansyah Halomoan Siregar Anisa Nur Halimah Ariq Cahya Wardhana Ariyani Tanti Ashri Rizki Hidayati Auriza Rahmad Akbar Barlianto, Agus Betty Kostradiyanti Budi Indra Setiawan dan Luh Putu Arisanti Edi Santosa Eknanda, Rafael Tektano Grandiawan Eliyah Acantha Manapa Sampetoding Elly Rusdiana, Elly Eny Inayati, Eny Faisyah, Shilvy Arofatul Haqqika Pasha Haris, Abdul Haula Robbi, M. Kautsar Hendra Rahmawan Hendra Rahmawan Hermadi , Irman Hidayat Hidayat Hidayat I M, Sukadana I NYOMAN MANTIK ASTAWA I W. Wita, I W. I Wayan Suirta I Wayan Wita I. A Raka Astiti Asih Ida Bagus Putra Manuaba Iman Rahayu Hidayati Soesanto Irman Hermadi Ishak, Sahrial Ihsani Joko Hermanianto Karlisa Priandana Komara N, Fatthurohman Kudang Boro Seminar Kusdarjanti, Endang Lita Rosa, Mia Laksmi Lokaprasidha, Pramesi Lusiana Tabuni Marimin , Maxiwinata, Maxdha Michel Williams, Michel Ni Ketut Puspa Sari Ni Luh Rustini Ni Made Puspawati Ni Made Puspawati Ni Nyoman Astuti Wulandari Ni Putu Rahayu Artini Nirmala Ratna Harda, Sasadhara Noer Muslimah, Meia Nugroho, Margaretta Andini Nur Halimah, Anisa Oka Ratnayani Putu Yuliantari Rahmadani, Annisa Ratwita, Rr. Dwiyanti Feriana Rebecha Prananta, Rebecha Sanjiwo, Suryo Hamukti Sefy Ayu Mandanie, Sefy Ayu Septianto, Yudhi Setyowati, Okti Shelvie Nidya Neyman Sianiwati Goenharto Sri Rahayu Santi Sri Redjeki Sri Redjeki Indiani, Sri Redjeki Sufiatul Maryana Sujati Sujati Sujati, Sujati Toto Haryanto Wafi, Azmi Sabilakisbatul Wahyu Dwijani Sulihingtyas Wasudewa, K. M. Wibisono, Indra Perdana Willy Bayuardi Suwarno Wulandari Wulandari Yan Mitha Djaksana Yani Nurhadryani Yulianti, Nila Susila Zakiah, Rizqi Alifahasni