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. 1991 Spring;3(1):88-97.
doi: 10.1162/neco.1991.3.1.88.

Efficient Training of Artificial Neural Networks for Autonomous Navigation

Dean A Pomerleau  1
Affiliations

Efficient Training of Artificial Neural Networks for Autonomous Navigation

Dean A Pomerleau. Neural Comput. 1991 Spring.

Abstract

The ALVINN (Autonomous Land Vehicle In a Neural Network) project addresses the problem of training artificial neural networks in real time to perform difficult perception tasks. ALVINN is a backpropagation network designed to drive the CMU Navlab, a modified Chevy van. This paper describes the training techniques that allow ALVINN to learn in under 5 minutes to autonomously control the Navlab by watching the reactions of a human driver. Using these techniques, ALVINN has been trained to drive in a variety of circumstances including single-lane paved and unpaved roads, and multilane lined and unlined roads, at speeds of up to 20 miles per hour.

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