论文标题
使用强化学习控制自然风格的蝎子
Control of a Nature-inspired Scorpion using Reinforcement Learning
论文作者
论文摘要
一个可以操纵粗糙地形和侦察场所的陆地机器人在绘制未知区域非常有用。也可以使用它来探索危险区域代替人类。在蝎子之后建模的陆地机器人将能够遍及未发现，并可用于监视目的。因此，本文提出了对蝎子启发的机器人的建模和基于增强的机器人（RL）进行导航的控制器。机器人蝎子使用串行四个条机制来运动。它还具有活跃的尾巴和可移动的爪子。训练控制器将机器人蝎子导航到目标航路点。仿真结果证明了机器人蝎子的有效导航。
A terrestrial robot that can maneuver rough terrain and scout places is very useful in mapping out unknown areas. It can also be used explore dangerous areas in place of humans. A terrestrial robot modeled after a scorpion will be able to traverse undetected and can be used for surveillance purposes. Therefore, this paper proposes modelling of a scorpion inspired robot and a reinforcement learning (RL) based controller for navigation. The robot scorpion uses serial four bar mechanisms for the legs movements. It also has an active tail and a movable claw. The controller is trained to navigate the robot scorpion to the target waypoint. The simulation results demonstrate efficient navigation of the robot scorpion.
