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Posts

Future Blog Post

less than 1 minute read

Published: January 01, 2199

This post will show up by default. To disable scheduling of future posts, edit config.yml and set future: false.

Why I want to become an expert in robotics software engineer?

1 minute read

Published: August 14, 2024

Motivation

My 5 Strength Point

less than 1 minute read

Published: August 14, 2024

Strength Points

Blog Post number 4

less than 1 minute read

Published: August 14, 2015

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Technical Interview

less than 1 minute read

Published: August 14, 2014

Watch my sample interview session video here

portfolio

SLAM Based Mobile Robot Navigation for Airport Robotics Model Prototyping

Research Project
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Line Following Robot using PID Controller

Robotisim Project
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LQR Controller Implementation for Mobile Robotics Behaviour

Robotisim Project
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Sensor Fusion Implementation for Robot Navigation

Robotisim Project
”

(Research Assistant) Multiple Model Approach of A Soft Robotic Arm

Research Assistant
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(Research Assistant) Soft-Growing Robot Navigation in Unknown Environment via Deep Reinforcement Learning

Research Assistant
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(Research Assistant) Upper Limb Rehabilitation Robot Control based on Large Language Model

Research Assistant
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Deep-Q-Network for Mobile Robotics Navigation

Research Project
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SLAM and Obstacle Avoidance Implementation on The Construct Platform

Student Project
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Custom Automatic Light Sensor Holder using CNC

Company Project
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publications

Paper Title Number 2

Published in Journal 1, 2010

This paper is about the number 2. The number 3 is left for future work.

Recommended citation: Your Name, You. (2010). "Paper Title Number 2." Journal 1. 1(2).
Download Paper | Download Slides

Paper Title Number 3

Published in Journal 1, 2015

This paper is about the number 3. The number 4 is left for future work.

Recommended citation: Your Name, You. (2015). "Paper Title Number 3." Journal 1. 1(3).
Download Paper | Download Slides

Reward Shaping for Mobile Robot Navigation Based on Deep Reinforcement Learning.

Published in Researchgate, 2024

Abstract: In recent years, various robot navigation method has been proposed, including the use of SLAM (Simultaneous Localization and Mapping), various path planning approaches such as A* or Djikstra, and obstacle avoidance methods such as an Artificial Potential Field. A navigation method is important for mobile robots to navigate autonomously. However, there are still challenges to including various constraints and diverse sensor data in the navigation process, particularly if no maps of the environment are available. The characteristic of an uncertain environment led to the development of a navigation method with Deep Reinforcement Learning (DRL). However, to solve the navigation problem, the DRL algorithm needs a reward shaping that generates a suitable reward function with limited observation data. In this paper, we proposed reward shaping for Deep Q Network (DQN), which is one of the methods of the DRL algorithm to perform navigation for a mobile robot. The goal of the algorithm is to achieve a specific position with optimum accuracy on a 2-dimensional space, making use of positioning data only. We compared a positive and negative reward function to train the DQN. We also compare two types of robot observation. We have successfully achieved the best performance of positioning with 87.2% accuracy.

Recommended citation: MBadriawan, Yusuf & Cahyadi, Adha & Rizqi, Ahmad Ataka Awwalur & Setiawan, Noor. (2023). "Reward Shaping for Mobile Robot Navigation Based on Deep Reinforcement Learning." Conference 1. 1(1).
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