Path Planning for 4-Wheeled Omnidirectional Cellular Conveyor using Q-Learning Algorithm

Syamsiar Kautsar*, Aulia Siti Aisjah, Mat Syai'in, Katherin Indriawati, Totok Ruki Biyanto

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The manufacturing industry has implemented various technologies, such as robot arms, AGVs (Automated Guided Vehicles), and conveyors, to enhance the efficiency of material flow. Conveyors facilitate the transportation of objects over long distances. The fixed belt conveyor is the most commonly used type of conveyor across various industries. The fixed belt conveyor follows a predetermined path to distribute items. Nevertheless, during its development, the material distribution process requires various paths. Therefore, the development of flexible conveyors was necessary to meet the requirements of various delivery routes. The most recent innovation in flexible conveyors is the conveyor with omnidirectional wheel drive. This study involved developing a path-planning algorithm utilizing classic Q-Learning (CQL), Double Q-Learning(DQL), and Action Restrictions Q-Learning (ARQL) to calculate the optimal path on an four-wheeled omnidirectional conveyor. The results show that the ARQL algorithm generates the optimal trajectory, achieving a processing time of less than 100 milliseconds.

Original languageEnglish
Title of host publication2024 International Electronics Symposium
Subtitle of host publicationShaping the Future: Society 5.0 and Beyond, IES 2024 - Proceeding
EditorsAndhik Ampuh Yunanto, Afifah Dwi Ramadhani, Yanuar Risah Prayogi, Putu Agus Mahadi Putra, Weny Mistarika Rahmawati, Muhammad Rizani Rusli, Fitrah Maharani Humaira, Faridatun Nadziroh, Nihayatus Sa'adah, Nailul Muna, Aris Bahari Rizki
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages466-472
Number of pages7
ISBN (Electronic)9798350391992
DOIs
Publication statusPublished - 2024
Event26th International Electronics Symposium, IES 2024 - Denpasar, Indonesia
Duration: 6 Aug 20248 Aug 2024

Publication series

Name2024 International Electronics Symposium: Shaping the Future: Society 5.0 and Beyond, IES 2024 - Proceeding

Conference

Conference26th International Electronics Symposium, IES 2024
Country/TerritoryIndonesia
CityDenpasar
Period6/08/248/08/24

Keywords

  • flexible conveyor
  • omnidirectional drive
  • path planning
  • q-learning

Fingerprint

Dive into the research topics of 'Path Planning for 4-Wheeled Omnidirectional Cellular Conveyor using Q-Learning Algorithm'. Together they form a unique fingerprint.

Cite this