State Estimation Using Particle Filtering in Adaptive Machine Learning Methods: Integrating Q-Learning and NEAT Algorithms with Noisy Radar Measurements

원문 초록

Reliable state estimation is essential for autonomous systems operating in complex, noisy environments. Classical filtering approaches, such as the Kalman filter, can struggle when facing nonlinear dynamics or non-Gaussian noise, and even more flexible particle filters often encounter sample degeneracy or high computational costs in large-scale domains. Meanwhile, adaptive machine learning techniques, including Q-learning and neuroevolutionary algorithms such as NEAT, rely heavily on accurate state feedback to guide learning; when sensor data are imperfect, these methods suffer from degraded convergence and suboptimal performance. In this paper, we propose an integrated framework that unifies particle filtering with Q-learning and NEAT to explicitly address the challenge of noisy measurements. By refining radar-based observations into reliable state estimates, our particle filter drives more stable policy updates (in Q-learning) or controller evolution (in NEAT), allowing both reinforcement learning and neuroevolution to converge faster, achieve higher returns or fitness, and exhibit greater resilience to sensor uncertainty. Experiments on grid-based navigation and a simulated car environment highlight consistent gains in training stability, final performance, and success rates over baselines lacking advanced filtering. Altogether, these findings underscore that accurate state estimation is not merely a preprocessing step, but a vital component capable of substantially enhancing adaptive machine learning in real-world applications plagued by sensor noise.