Research Article
Path-Integral-Based Reinforcement Learning Algorithm for Goal-Directed Locomotion of Snake-Shaped Robot
Table 2
The shape parameters of each obstacle.
| | Obstacle | Shape | | | | | | | Center of the obstacle |
| | 1 | Sphere | 5 | 5 | 5 | 1 | 1 | 1 | (20, 20, 0) | | 2 | Sphere | 6 | 6 | 6 | 1 | 1 | 1 | (30,−2,0) | | 3 | Sphere | 5 | 5 | 5 | 1 | 1 | 1 | (15, 30, 0) | | 4 | Cylinder | 5 | 5 | 15 | 1 | 1 | 10 | (22, 7, 0) | | 5 | Cylinder | 4 | 4 | 20 | 1 | 1 | 10 | (35, 15, 0) | | 6 | Cone | 6 | 6 | 9 | 1 | 1 | 0.3 | (3, 27, 0) | | 7 | Cone | 5 | 5 | 19 | 1 | 1 | 0.3 | (6, 3, 0) | | 8 | Cone | 6 | 6 | 21 | 1 | 1 | 0.3 | (30, 36, 0) |
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