A Quantum-Inspired Hybrid Artificial Neural Network for Identifying the Dynamic Parameters of Mobile Car-Like Robots

摘要

Accurate prediction of a robot’s dynamic parameters, including mass and moment of inertia, is essential for adequate motion planning and control in autonomous systems. Traditional methods often depend on manual computation or physics-based modelling, which can be time-consuming and approximate for intricate, real-world environments. Recent advances in machine learning, primarily through artificial neural networks (ANNs), offer profitable alternatives. However, the potential of quantum-inspired models in this context remains largely uncharted. The current research assesses the predictive performance of a classical artificial neural network (CANN) and a quantum-inspired artificial neural network (QANN) in estimating a car-like mobile robot’s mass and moment of inertia. The predictive accurateness of the models was considered by minimizing a cost function, which was characterized as the RMSE between the predicted and actual values. The outcomes indicate that while both models demonstrated commendable performance, QANN consistently surpassed CANN. On average, QANN achieved a 9.7% reduction in training RMSE, decreasing from 0.0031 to 0.0028, and an 84.4% reduction in validation RMSE, dropping from 0.125 to 0.0195 compared to CANN. These enhancements highlight QANN’s singular predictive accuracy and greater capacity for generalization to unseen data. In contrast, CANN displayed overfitting tendencies, especially during the training phase. These findings emphasize the significance of quantum-inspired neural networks in enhancing prediction precision for involved regression tasks. The QANN framework has the potential for wider applications in robotics, including autonomous vehicles, uncrewed aerial vehicles, and intelligent automation systems, where accurate dynamic modelling is necessary.