Adaptive Wall-Following Control for Unmanned Ground Vehicles Using Spiking Neural Networks

원문 초록

Unmanned ground vehicles operating in complex environments must adaptively adjust to modeling uncertainties and external disturbances to perform tasks such as wall following and obstacle avoidance. This paper introduces an adaptive control approach based on spiking neural networks for wall fitting and tracking, which learns and adapts to unforeseen disturbances. We propose real-time wall-fitting algorithms to model unknown wall shapes and generate corresponding trajectories for the vehicle to follow. A discretized linear quadratic regulator is developed to provide a baseline control signal based on an ideal vehicle model. Point matching algorithms then identify the nearest matching point on the trajectory to generate feedforward control inputs. Finally, an adaptive spiking neural network controller, which adjusts its connection weights online based on error signals, is integrated with the aforementioned control algorithms. Numerical simulations demonstrate that this adaptive control framework outperforms the traditional linear quadratic regulator in tracking complex trajectories and following irregular walls, even in the presence of partial actuator failures and state estimation errors.