Spiking Neural Network Actor-Critic Proximal Policy Optimization Control for Autonomous UAV Navigation Through Constrained Openings in Civil Infrastructure and Buildings

2026-09-20

AI Summary

本文针对无人机在受限三维环境中的自主导航问题，提出了一种基于脉冲神经网络的近端策略优化算法，通过结合脉冲动作-评价强化学习和高斯随机策略，提高了算法的成功率和效率。

Abstract

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.

Problem

• Spiking Neural Network
• Autonomous UAV Navigation
• Constrained Environments
• Proximal Policy Optimization
• Reinforcement Learning

Innovation

• Spiking Neural Network
• Proximal Policy Optimization
• Autonomous UAV Navigation
• Constrained Environments
• Actor-Critic Reinforcement Learning