![[SkyAI]](image/logoxs.png "[SkyAI]")
This is a simple demonstration of a maze task.
The robot is an omniwheel mobile robot. The robot can move in any direction on a 2-dimensional plane.
FIGURE
This task is performed in simulation. The state of the robot is its global position which is expressed as
x = (x1, x2) ,
and its control input is the state transition in a time step dt=0.01 which is expressed as
u = (Dx1, Dx2).
In this environment, there is some wind that changes the behavior of the robot in the direction of the arrows as shown in the above figure. There are also walls which the robot can not pass through.
The objective of the navigation task is to acquire a path from the start to the goal. According to this objective, the reward function is designed as follows: 1 for goal, a small step cost, and a penalty for going out of the plane.
