Neural Behavior Chain Learning of Mobile Robot Actions

Table 2

Description examples of behavior sequence of actions.

(𝜌, 𝜃)	𝑘1	𝑘2	𝑘3	𝑘4	𝑑	𝛼
(55, 170)	7	1	1	6	42	169
(35, 160)	7	3	0	0	18	160
(15, 150)	5	0	0	0	0	140
(25, 140)	4	1	1	1	12	135
(45, 130)	4	5	0	0	30	130
(45, 120)	3	5	1	0	30	120
(65, 110)	2	7	1	2	54	112
(25, 100)	1	2	0	0	12	100
(65, 90)	0	9	0	0	54	90
(55, 80)	−1	6	0	0	36	80
(35, 70)	−2	3	0	0	18	70
(45, 60)	−3	4	0	0	24	60
(65, 50)	−4	6	−1	2	47	45
(25, 40)	−5	1	0	0	6	40
(15, 30)	−6	1	0	0	6	30
(45, 20)	−8	4	−1	1	30	8
(65, 10)	−8	5	−1	3	48	6