Intelligent autonomous vehicle navigated by using artificial neural network

摘要

This paper illustrates on such an intelligent autonomous vehicle (mobile robot) that can be navigated by using visual identification of road direction which utilizes artificial neural network. As a sensor to retrieve the information of surroundings, a camera is mounted on the top of the vehicle. An artificial neural network, Kohonen-type Concurrent Self- Organizing Map (CSOM) is then used to make correct identification of road direction by accessing the sensor's information. The road directions can be classified into three classes- left, straight & right, for each of which individual SOM module is used. The camera's readings are fed to all three SOM modules and the winning neuron is selected as output which is then accounted as the classifier's decision. The decision is then used to navigate the vehicle accordingly.