Pencarian Rute Line Follower Mobile Robot Pada Maze Dengan Metode Q Learning

https://doi.org/10.5614/joki.2016.8.1.5

Authors

  • Samsul Arifin
  • Arya Tandy Hermawan
  • Yosi Kristian

Abstract

Dalampenelitianinirobotlinefollowerakandigunakan sebagaiagen.Robotagenbertugasmencarirutedalam suatuenvironmentberupamaze,tanpaadabimbingan langsungdarimanusia.Robotdiberikan  algoritmaQ Learningyangmerupakansalahsatumetodedalam domainReinforcementLearning.Tujuandaripenelitian iniadalahrobotharusbisamenemukanrutedariinitial state menujugoalstate.AlgoritmaQLearningberperan untukmenyimpanstate-statejalurmazeyangtelah dilaluidalammatrikQ.Setiapkalirobotmencapai salahsatudaristatepertigaan,belokkiri,belokkanan ataulurusmakarobotakanmemilihaksiyang mungkin.Haliniakandilakukanberulangsampainilai pasanganstateaksipadamatriksQmencapai  nilai yangoptimal.

Darihasilujicobadidapatkandatasebanyak34state yangtelahdipelajariolehrobot.Prosestrainingtelah mampumeningkatkanpengetahuanrobotsehingga bisamenemukanrutedariinisialstatemenujukegoal state.Dari30kalipercobaantingkatkeberhasilan robotuntukmenemukanstateadalah23kali.Ini berartibahwatingkaterrorantara24%.

Kata Kunci: Robot Line Follower, Reinforcement Learning, Maze, Q Learning

Published

2016-10-19

How to Cite

[1]
S. Arifin, A. Tandy Hermawan, and Y. Kristian, “Pencarian Rute Line Follower Mobile Robot Pada Maze Dengan Metode Q Learning”, JOKI, vol. 8, no. 1, p. 55, Oct. 2016.

Issue

Vol. 8 No. 1 (2016): Jurnal Otomasi, Kontrol, dan Instrumentasi

Section

Articles
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