MANIAC: A Next Generation Neurally Based Autonomous Road Follower
نویسندگان
چکیده
The use of artificial neural networks in the domain of autonomous vehicle navigation has produced promising results. ALVINN [Pomerleau, 1991] has shown that a neural system can drive a vehicle reliably and safely on many different types of roads, ranging from paved paths to interstate highways. Even with these impressive results, several areas within the neural paradigm for autonomous road following still need to be addressed. These include transparent navigation between roads of different type, simultaneous use of different sensors, and generalization to road types which the neural system has never seen. The system presented here addresses these issue with a modular neural architecture which uses pretrained ALVINN networks and a connectionist superstructure to robustly drive on many different types of roads.
منابع مشابه
Autonomous Navigation of Structured City Roads
Autonomous road following is a domain which spans a range of complexity from p r l y defmed, unmarked dirt roads to well defined, well marked, highly structured highways. The YARF system (for Yet Another Road Follower) is designed to operate in the middle of this range of complexity, driving on laban streets. Our research program has focused on the use of featureand situation-specific segmentat...
متن کاملUsing Road Surface Measurements for Real Time Driving Simulation
Road surface irregularity is known to effect vehicle NVH responses. When modeling vehicle NVH, it is desirable to have high-resolution measurements of the road surface to use as road input. For typical NVH modal tire models, the road surface sampling rate will not be an issue because several points on the tire patch (center line) are used to determine the road surface irregularity. The single p...
متن کاملModel-Based Car Tracking Integrated with a Road-Follower
This paper discusses how we integrated our 3D car tracking approach with the lane following module RALPH on the Navlab autonomous vehicles, obtaining a hybrid vision system that tracks both the road and cars better than those two systems in isolation. The tracking system brings precise and crisp measurements of the car in the image, and performs image stabilization. However, because it does not...
متن کاملA New Algorithm for Motion Control of Leader-Follower Formation of Mobile Autonomous Agents
This paper presents a motion control strategy for a rigid and constraint consistent formation that can be modeled by a directed graph whose each vertex represents individual agent kinematics and each of directed edges represents distance constraints maintained by an agent, called follower, to its neighbouring agents. A rigid and constraint consistent graph is called persistent graph. A persiste...
متن کاملPartially Observed, Multi-objective Markov Games
The intent of this research is to generate a set of non-dominated policies from which one of two agents (the leader) can select a most preferred policy to control a dynamic system that is also affected by the control decisions of the other agent (the follower). The problem is described by an infinite horizon, partially observed Markov game (POMG). The actions of the agents are selected simultan...
متن کامل