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Program Studi

Data Publikasi Jurnal - Tahun 2021

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Utilization Of Communication Technology For Business

Author

Assoc. Prof. Dr. Lilis Puspitawati, S.E., M.Si.,Ak.,CA

Abstrak

-

Nama Jurnal

-
Volume 2 Nomor -

URL

DOI

https://doi.org/10.34010/injiiscom.v2i1.4864

Optimal Path Planning Using Informed Probabilistic Road Map Algorithm

Author

Muhammad Aria Rajasa Pohan, M.T

Abstrak

This study aims to propose a new path planning algorithm that can guarantee the optimal path solution. The method used is to hybridize the Probabilistic Road Map (PRM) algorithm with the Information Search Algorithm. This hybridization algorithm is called the Informed-PRM algorithm. There are two informed search methods used. The first method is the informed sampling through an ellipsoid subset whose eccentricity is dependent on the length of the shortest current solution that is successfully planned in that iteration. The second method is to use a local search algorithm. The basic PRM algorithm will be run in the first iteration. Since the second iteration, the generation of sample points in the PRM algorithm will be carried out based on information. The informed sampling method will be used to generate 50% of the sampling points. Meanwhile, the remaining number of sample points will be generated using a local search algorithm. Using several benchmark cases, we compared the performance of the Informed-PRM algorithm with the Rapidly Exploring Random Tree* (RRT*) and informed RRT* algorithm. The test results show that the Informed-PRM algorithm successfully constructs the nearly optimal path for all given cases. In producing the path, the time and path cost of the Informed-PRM algorithm is better than the RRT* and Informed RRT* algorithm. The Friedman test was then performed to check for the significant difference in performance between Informed-PRM with RRT* and Informed RRT*. Thus, the Informed-PRM algorithm can be implemented in various systems that require an optimal path planning algorithm, such as in the case of medical robotic surgery or autonomous vehicle systems.

Nama Jurnal

Journal of Engineering Research
Volume 0 Nomor -

URL

https://kuwaitjournals.org/jer/index.php/JER/article/view/16105/2965

DOI

Path Planning Algorithm Using The Hybridization Of The Rapidly-Exploring Random Tree And Ant Colony Systems

Author

Muhammad Aria Rajasa Pohan, M.T

Abstrak

This paper proposes a path planning algorithm using the hybridization of the rapidly-exploring random tree (RRT) and ant colony system (ACS) algorithms. The RRT algorithm can quickly generate paths. However, the resulting path is suboptimal. Meanwhile, the ACS algorithm can generate the optimal path from the suboptimal previous path information. Then, the proposed algorithm will combine the advantages of RRT with the ACS algorithm. Therefore, it can reach the optimal value with a good convergence speed. We call this proposed algorithm the RRT-ACS algorithm. This study developed a new method for hybridizing the RRT and ACS algorithms for path planning problems. This hybridization process is carried out using one of the ACS principles: the pseudorandom proportional rule. The performance of the proposed algorithm with the RRT*, informed RRT*, RRT*-connect, and informed RRT*-connect algorithms is tested with several benchmark cases. The test results from benchmark case tests with known optimal values indicate that the proposed algorithm has succeeded in achieving those optimal values. Furthermore, statistical tests have also been carried out to verify whether there is a significant difference in performance between the RRT-ACS algorithm and the existing algorithms. The test and statistical analysis results show that the RRT-ACS algorithm has good performance and convergence speed. We also discuss the stability, robustness, convergence, and rapidity of the RRT-ACS algorithm. The results indicates that the RRT-ACS algorithm may be used in applications that require fast and optimal path planning algorithms such as robots and autonomous vehicles.

Nama Jurnal

IEEE Access
Volume 9 Nomor -

URL

https://ieeexplore.ieee.org/abstract/document/9612162

DOI

Family Entrepreneurship In Ornamental Plants During Covid-19 Outbreak

Author

Prof. Dr. Ir. H. Eddy Soeryanto Soegoto, MT Dr. Senny Luckyardi, M.M.

Abstrak

This study aims to analyse business conditions in the ornamental plants managed by family entrepreneurs during the Covid-19 outbreak. A case study was conducted in Cihideung Village, West Java Province, the centre of ornamental plants business. This research used a descriptive qualitative on SWOT analysis. Observation and interviews were used as the primary data collection techniques while literature review was used as the secondary data collection. SWOT analysis was used to identify the problem by systematically identifying various factors to formulate a business strategy (SO, ST, WO and WT strategies). The sampling method was done by purposive sampling as one of the non-randomized methods. The respondents were ten families who are running the ornamental plants business. The primary data were obtained by interviewing the respondents and observing them directly at the research site. The results of this study indicated that family entrepreneurship in ornamental plants could survive during the Covid-19 outbreak. Even some of them experienced an increase in income. It is closely related to the people's green lifestyle during the pandemic since the current condition creates the awareness to maintain the balance of nature. In conclusion, family entrepreneurs can survive if they implement right strategies by expanding distribution network, maintaining quality, creating better management and technology utilisation