Neural Network Perception for Mobile Robot Guidance
Advanced Search
Select up to three search categories and corresponding keywords using the fields to the right. Refer to the Help section for more detailed instructions.

Search our Collections & Repository

All these words:

For very narrow results

This exact word or phrase:

When looking for a specific result

Any of these words:

Best used for discovery & interchangable words

None of these words:

Recommended to be used in conjunction with other fields



Publication Date Range:


Document Data


Document Type:






Clear All

Query Builder

Query box

Clear All

For additional assistance using the Custom Query please check out our Help Page


Neural Network Perception for Mobile Robot Guidance

Filetype[PDF-4.34 MB]

  • English

  • Details:

    • Resource Type:
    • Geographical Coverage:
    • TRIS Online Accession Number:
    • Edition:
      Doctoral Thesis
    • Corporate Publisher:
    • Abstract:
      Vision based mobile robot guidance has proven difficult for classical machine vision methods because of the diversity and real time constraints inherent in the task. This thesis describes a connectionist system called ALVINN (Autonomous Land Vehicle In a Neural Network) that overcomes these difficulties. ALVINN learns to guide mobile robots using the back-propagation training algorithm. Because of its ability to learn from example, ALVINN can adapt to new situations and therefore cope with the diversity of the autonomous navigation task. But real world problems like vision based mobile robot guidance presents a different set of challenges for the connectionist paradigm. Among them are: • How to develop a general representation from a limited amount of real training data, • How to understand the internal representations developed by artificial neural networks, • How to estimate the reliability of individual networks, • How to combine multiple networks trained for different situations into a single system, • How to combine connectionist perception with symbolic reasoning. This thesis presents novel solutions to each of these problems. Using these techniques, the ALVINN system can learn to control an autonomous van in under 5 minutes by watching a person drive. Once trained, individual ALVINN networks can drive in a variety of circumstances, including single-lane paved and unpaved roads, and multi-lane lined and unlined roads, at speeds of up to 55 miles per hour. The techniques also are shown to generalize to the task of controlling the precise foot placement of a walking robot.
    • Format:
    • Main Document Checksum:
    • File Type:

    Supporting Files

    • No Additional Files

    More +

    You May Also Like

    Checkout today's featured content at

    Version 3.26