Path-Integral-Based Reinforcement Learning Algorithm for Goal-Directed Locomotion of Snake-Shaped Robot

Path-Integral-Based Reinforcement Learning Algorithm for Goal-Directed Locomotion of Snake-Shaped Robot

This paper proposes a goal-directed locomotion method for a snake-shaped robot in 3D complex environment based on path-integral reinforcement learning. This method uses a model-free online Q-learning algorithm to evaluate action strategies and optimize decision-making through repeated “exploration-l...

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Bibliographic Details
Main Authors: Qi Yongqiang, Yang Hailan, Rong Dan, Ke Yi, Lu Dongchen, Li chunyang, Liu Xiaoting
Format: Article
Language:English
Published: Wiley 2021-01-01
Series:Discrete Dynamics in Nature and Society
Online Access:http://dx.doi.org/10.1155/2021/8824377
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