Accession Number : ADA218975

Title :   Alvinn: An Autonomous Land Vehicle in a Neural Network

Descriptive Note : Technical rept.

Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ARTIFICIAL INTELLIGENCE AND PSYCHOLOGY PROJECT

Personal Author(s) : Pomerleau, Dean A.

PDF Url : ADA218975

Report Date : JAN 1989

Pagination or Media Count : 17

Abstract : ALVINN (Autonomous Land Vehicle In a Neural Network) is a 3-layer back-propagation network designed for the task of road following. Currently ALVINN takes images from a camera and a laser range finder as input and produces as output the direction the vehicle should travel in order to follow the road. Training has been conducted using simulated road images. Successful tests on the Carnegie Mellon autonomous navigation test vehicle indicate that the network can effectively follow real roads under certain field conditions. The representation developed to perform the task differs dramatically when the network is trained under various conditions, suggesting the possibility of a novel adaptive autonomous navigation system capable of tailoring its processing to the conditions at hand. Keywords: Autonomous navigation, Neural networks, Road following, Machine vision.

Descriptors :   *GROUND VEHICLES, *AUTONOMOUS NAVIGATION, PROCESSING, LASER APPLICATIONS, IMAGES, FIELD CONDITIONS, ADAPTIVE SYSTEMS, ROADS, RANGE FINDING, NEURAL NETS, SIMULATION, TEST VEHICLES

Subject Categories : Cybernetics
      Land and Riverine Navigation and Guidance

Distribution Statement : APPROVED FOR PUBLIC RELEASE