Mobile Robot

Mobile Robot

• name: mobile-v0

Roomba like mobile robot

Observation

Type: Box(3)

Num	Observation	Min	Max
0	Robot X Position [m]	-2	2
1	Robot Y Position [m]	-2	2
2	Robot Angle [rad]	- 6	6

Actions

Type: Box(2)

Num	Action	Min	Max
0	Right Wheel Speed [m/s]	-0.5	0.5
1	Left Wheel Speed [m/s]	-0.5	0.5

Reward

Reward is , where q is robot state and u is action. The target is [0m, 0m, 0rad].

Starting State

Uniform random values in the range below. Otherwise zeros.

Num	Observation	Min	Max
0	Robot X Position [m]	-2	2
1	Robot Y Position [m]	-2	2
2	Robot Angle [rad]	- π	π

Episode Termination

1. Observation states are out of range
2. Episode length is greater than 1200 (60sec in 20Hz)