スパイキングニューラルネットワークによるActor-Critic PPO制御を用いた、インフラ・建築物内の狭所開口部を通過するUAV自律ナビゲーション
Spiking Neural Network Actor-Critic Proximal Policy Optimization Control for Autonomous UAV Navigation Through Constrained Openings in Civil Infrastructure and Buildings
スパイキングニューラルネットワークとPPOを組み合わせたActor-Critic強化学習により、橋梁やトンネルなど制約の多い3次元環境でUAVを自律飛行させ、窓通過タスクで63.77%の成功率を達成した。
著者: Francis Noah Walugembe, Maciej Wielgosz, Tomaž Goričan, Matej Mertik
分類: cs.RO, cs.AI
原文アブストラクト
Autonomous navigation of unmanned aerial vehicles in constrained three-dimensional environments has been a challenge in the robotics domain. The application of autonomous unmanned aerial vehicles in civil infrastructure inspection involves the use of such vehicles in bridge inspection, tunnel inspection, and structural inspection. The use of deep reinforcement learning in the autonomous navigation of unmanned aerial vehicles has been successful in constrained environments. However, the computational cost of the algorithm limits the application of the algorithm in the autonomous navigation of unmanned aerial vehicles. This paper proposes the use of the spiking neural network-based Proximal Policy Optimization algorithm in the autonomous navigation of unmanned aerial vehicles in constrained sequential environments. The proposed algorithm integrates the use of spike-based actor-critic reinforcement learning with the Proximal Policy Optimization algorithm. The proposed algorithm uses the stochastic Gaussian policy in the autonomous navigation of unmanned aerial vehicles. The proposed algorithm was implemented in the autonomous navigation of unmanned aerial vehicles in constrained 3D environments. The proposed algorithm was successful in completing 1913 episodes out of more than 3000. The proposed algorithm was successful in passing an average of 2.10 windows per episode. The proposed algorithm was successful in achieving a success rate of 63.77%. The proposed algorithm was successful in achieving success rates of more than 90% in the later stages of the algorithm.