Reward Distribution Method for Multi-Legged Robot to Follow A Moving Target

Abstract

In this paper, we propose a method to reward a robot in Q-learning in order to follow a moving target. In the previous study, the robot moves toward the fixed target, but we try to follow the moving target in this paper. We modify a rewarding method in a GA-based Q-learning called "Q-learning with Dynamic Structuring of Exploration Space Based on Genetic Algorithm (QDSEGA)". Simulation results clearly show the effectiveness of the proposed method.