Simulation parameter | Value |
---|---|
Maximum number of episodes \(N_{epi}\) | 5000 |
Replay buffer capacity \(C\) | 100,000 |
Initial exploration \(\varepsilon_{0}\) | 0.5 |
Exploration decay rate \(\alpha\) | 0.998 |
Slide window size \(N_{1}\) | 32 |
Outage penalty weight \(\mu\) | 30 |
Obstacle avoidance weight \(\eta\) | 50 |
Maximum step per episode \(N_{step}\) | 300 |
Reaching destination tolerating distance \(D_{tol}\) | 20 m |