Supervised Reinforcement Learning for ULV Path Planning in Complex Warehouse Environment

Table 1

External rewards configuration.

Reward item	Reward value
The ULV reaches the goal	+30
The ULV completes all tasks	+30
The ULV collides with an obstacle	-15
The ULV collides with a wall	-15
The ULV collides with another agent	-30
The ULV moves a step	-0.1
The ULV moves (a step) closer to the target	+0.6