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

Da l ampenel i t i aniniro b ot l ine f o ll owerakan d ig u n a k a n sebagaiage n .Ro b otag e n b ert u g a smenc a rirute d a l am s u atue n vironment b er u p ama z e ,tanpaa d a b i mb ingan l angs u ng d arimanusia.Ro b ot d i b erikan  a l go r i t maQ Learningya n gmer u p ak a n s a l ah s atume t o d e d a l a m d omainRe i n f orcementLe a rni n g. T uju a n d aripenel i t i a n inia d a l ah r o b ot h a rus b isame n emu k anrute d ariinit i al st a te men u jugo a lst a te.A l go r i t maQLearning b erper a n untukm e ny i mpanst a t e - st a tejalurmazeya n gte l ah d i l a l ui d a l ammatrik Q .Set i a pka l iro b otme n capai s a l ahs a tu d aris t atepertiga a n, b e l okkiri, b e l okk a n a n atau l u r usma k aro b ota ka nmem il ihaksiya n g mung k i n .Haliniakan d i l ak u k a n b er u l angs a m p aini l ai pas a n g ans t ate a ksipa d a m a triksQmen c apai ni l ai ya n gopt i ma l . Dari h asilujico b a d i d apatkan d ataseba n yak34s t ate ya n gte l ah d i p e l ajario l ehro b o t.Pro s estr a iningte l a h mampumening k atk a npenge t a h u anro b otse h in g ga b isamenem u kanrute d ariinisialst a temen u jukego a l st a te.D a ri30ka l ipercob aa nt i ng k atke b er h a silan ro b otunt u kmenem u kanst a t ea d a l ah23ka l i. I ni b er a rti b a h w at i ng k ate r ror a nt a ra24%. Kata Kunci: Robot Line Follower, Reinforcement Learning, Maze, Q Learning