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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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2021/8824377 |
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| _version_ | 1850157153838432256 |
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| author | Qi Yongqiang Yang Hailan Rong Dan Ke Yi Lu Dongchen Li chunyang Liu Xiaoting |
| author_facet | Qi Yongqiang Yang Hailan Rong Dan Ke Yi Lu Dongchen Li chunyang Liu Xiaoting |
| author_sort | Qi Yongqiang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-33a53d5e43a24153b6e86a9db7cf64af |
| institution | OA Journals |
| issn | 1026-0226 1607-887X |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Discrete Dynamics in Nature and Society |
| spelling | doaj-art-33a53d5e43a24153b6e86a9db7cf64af2025-08-20T02:24:15ZengWileyDiscrete Dynamics in Nature and Society1026-02261607-887X2021-01-01202110.1155/2021/88243778824377Path-Integral-Based Reinforcement Learning Algorithm for Goal-Directed Locomotion of Snake-Shaped RobotQi Yongqiang0Yang Hailan1Rong Dan2Ke Yi3Lu Dongchen4Li chunyang5Liu Xiaoting6China University of Mining and Technology (CUMT), School of Mathematics, 221116 Xuzhou, ChinaChina University of Mining and Technology (CUMT), School of Mathematics, 221116 Xuzhou, ChinaChina University of Mining and Technology (CUMT), School of Mathematics, 221116 Xuzhou, ChinaChina University of Mining and Technology (CUMT), School of Mathematics, 221116 Xuzhou, ChinaChina University of Mining and Technology (CUMT), School of Mathematics, 221116 Xuzhou, ChinaChina University of Mining and Technology (CUMT), School of Mathematics, 221116 Xuzhou, ChinaChina University of Mining and Technology (CUMT), School of Mathematics, 221116 Xuzhou, ChinaThis 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.http://dx.doi.org/10.1155/2021/8824377 |
| spellingShingle | Qi Yongqiang Yang Hailan Rong Dan Ke Yi Lu Dongchen Li chunyang Liu Xiaoting Path-Integral-Based Reinforcement Learning Algorithm for Goal-Directed Locomotion of Snake-Shaped Robot Discrete Dynamics in Nature and Society |
| title | Path-Integral-Based Reinforcement Learning Algorithm for Goal-Directed Locomotion of Snake-Shaped Robot |
| title_full | Path-Integral-Based Reinforcement Learning Algorithm for Goal-Directed Locomotion of Snake-Shaped Robot |
| title_fullStr | Path-Integral-Based Reinforcement Learning Algorithm for Goal-Directed Locomotion of Snake-Shaped Robot |
| title_full_unstemmed | Path-Integral-Based Reinforcement Learning Algorithm for Goal-Directed Locomotion of Snake-Shaped Robot |
| title_short | Path-Integral-Based Reinforcement Learning Algorithm for Goal-Directed Locomotion of Snake-Shaped Robot |
| title_sort | path integral based reinforcement learning algorithm for goal directed locomotion of snake shaped robot |
| url | http://dx.doi.org/10.1155/2021/8824377 |
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