Cover of Moll Flanders
Picaresque: adjective - relating to rascals and rogues; suggesting fiction dealing with the episodic adventures of a roguish protagonist.
Good examples are Moll Flanders, by Daniel Defoe and Tom Jones, by Henry Fielding. Modern readers, and filmgoers, will probably be more familiar with the genre as demonstrated by the Pirates of the Caribbean series.
‘Stuart’s novel, relating the adventures of an unqualified hospital doctor, was described by reviewers as a picaresque romp.’