首页    期刊浏览 2025年08月15日 星期五
登录注册

文章基本信息

  • 标题:Path-Integral-Based Reinforcement Learning Algorithm for Goal-Directed Locomotion of Snake-Shaped Robot
  • 本地全文:下载
  • 作者:Qi Yongqiang ; Yang Hailan ; Rong Dan
  • 期刊名称:Discrete Dynamics in Nature and Society
  • 印刷版ISSN:1026-0226
  • 电子版ISSN:1607-887X
  • 出版年度:2021
  • 卷号:2021
  • 页码:1-12
  • DOI:10.1155/2021/8824377
  • 出版社:Hindawi Publishing Corporation
  • 摘要: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.
国家哲学社会科学文献中心版权所有