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ANUGERAH WIBISANA
Politeknik Negeri Batam
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Journal : The Indonesian Journal of Computer Science

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Implementasi Particle Swarm Optimization untuk Optimasi Fuzzy-Social Force Model pada Sistem Navigasi Robot Omnidirectional Anugerah Wibisana; Bima Sena Bayu Dewantara; Dadet Pramadihanto
The Indonesian Journal of Computer Science Vol. 11 No. 2 (2022): The Indonesian Journal of Computer Science
Publisher : AI Society & STMIK Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33022/ijcs.v11i2.3076

Abstract

Particle Swarm Optimization (PSO) is a swarm-based optimization method that is easy to implement and requires only a few parameters to set. This study aims to implement PSO to optimize the Fuzzy-Social Force Model (FSFM). FSFM combines the Social Force Model (SFM) as a navigation algorithm and the Fuzzy Inference Rule (FIS) to produce adaptive gain on SFM to create a mobile robot navigation system that is more responsive to obstacles. The PSO implementation optimizes fuzzy rules to be more optimal when the mobile robot navigates into social spaces. From the experimental test results on the VREP simulation software, cognitive parameter c1 = 1 and social parameter c2 = 2 produced the best navigation performance compared to other test parameter values.
Co-Authors Abda Abda Adlian Jefiza Adriansyah, Yoga Ahmad Riyad Firdaus Analia, Riska Bima Sena Bayu Dewantara Budiana, B. Dadet Pramadihanto Diputra, Muhammad Naufal Airlangga Eka Mutia Lubis Eko Rudiawan Jamzuri Fatekha, Rifqi Amalya Fitriyanti Nakul Hasnira, H. Hendawan Soebhakti Ika Karlina Laila Nur Suciningtyas Ika Karlina Laila Nur Suciningtyas Jefiza, Adlian Julanba, Vafin Kaputra, Aldi Lubis, Eka Mutia Maulidiah, Hana Mutialif MOCHAMAD ARI BAGUS NUGROHO Muhammad Imron Shodiq Muhammad Naufal Airlangga Diputra Naurah Nazhifah Prasetyo, Naufal Abdurrahman Prayoga , Senanjung Prayoga, Senanjung Puspita, Widya Rika Rifqi Amalya Fatekha Riska Analia Ryan Satria Wijaya S. Susanto, S. Santonius, Santonius Sinaga, Jepelin Amstrong Susanto Susanto