Path-integral-based reinforcement learning algorithm for goal-directed locomotion of snake-shaped robot (Q2657458)
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English | Path-integral-based reinforcement learning algorithm for goal-directed locomotion of snake-shaped robot |
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Path-integral-based reinforcement learning algorithm for goal-directed locomotion of snake-shaped robot (English)
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12 March 2021
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Summary: 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-learning-utilization'' processes to complete snake-shaped robot goal-directed locomotion in 3D complex environment. The proper locomotion control parameters such as joint angles and screw-drive velocities can be learned by path-integral reinforcement learning, and the learned parameters were successfully transferred to the snake-shaped robot. Simulation results show that the planned path can avoid all obstacles and reach the destination smoothly and swiftly.
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