MVILAIN@G.BBN.COM (Marc Vilain) (12/07/88)
BBN Science Development Program
AI Seminar Series Lecture
ALVINN: AN AUTONOMOUS LAND VEHICLE IN A NEURAL NETWORK
Dean Pomerleau
Carnegie-Mellon University
(Dean.Pomerleau@F.GP.CS.CMU.EDU)
BBN Labs
10 Moulton Street
2nd floor large conference room
10:30 am, Tuesday December 13
In this talk I will describe my current research on autonomous navigation
using neural networks.
ALVINN (Autonomous Land Vehicle In a Neural Network) is a 3-layer
back-propagation network designed for the navigational task of road
following. Currently ALVINN is designed to take images from a camera
and a laser range finder as input and produce as output the direction
the vehicle should travel in order to follow the road.
Training has been conducted using simulated roads. Recent successful
tests on the Carnegie-Mellon NAVLAB, a vehicle designed for autonomous
land vehicle research, indicate that the network can be quite effective
at road following under certain field conditions. I will be showing a
videotape of the network controlling the vehicle and presenting current
directions and extensions I hope to make to this research.
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