How I built a Neural Network controlled self driving (RC) Car and you can too

Cheap, mass produced mobile phone hardware laden with sensors combined with the compute power of the machines we use every day make expensive research systems of the 90s implementable in your living room. I'll explain how I did just that. Combining machine learning techniques anyone can learn online, an open source hardware platform, a simple mobile app and a bit of heath-robinson device hacking to build a remote control car that learns how to navigate autonomously.

Transcript

1. Neural Network self-driving (RC) car David Singleton @dps blog.davidsingleton.org Saturday, 21 April 12
2. Neural Network self-driving (RC) car Saturday, 21 April 12
3. Image credits: Michele Aiello, ml-class.org Saturday, 21 April 12
4. Image credits: Michele Aiello, ml-class.org Saturday, 21 April 12
5. ALVINN Saturday, 21 April 12
6. ALVINN Saturday, 21 April 12
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12. Anatomy of a cheap RC car Saturday, 21 April 12
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16. void setup() { Serial.begin(9600); pinMode(forwardPin, OUTPUT); ... } void loop() { ... if (Serial.available() > 0) { incomingByte = Serial.read(); left = right = forward = back = LOW; if (incomingByte & 0x01) { left = HIGH; } if (incomingByte & 0x02) { right = HIGH; } if (incomingByte & 0x04) { forward = HIGH; } if (incomingByte & 0x08) { back = HIGH; } ... digitalWrite(leftPin, left); digitalWrite(rightPin, right); digitalWrite(forwardPin, forward); digitalWrite(backPin, back); digitalWrite(ledPin, error); } } Saturday, 21 April 12
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19. Neural Network (learn more at ml-class.org) Saturday, 21 April 12
20. Get training data oh no, I’m a terrible driver! Saturday, 21 April 12
21. Training • The pipeline • Feature Normalization • Regularization • Training time + PCA? • Accuracy on training data Saturday, 21 April 12
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24. Right Saturday, 21 April 12
25. Right Saturday, 21 April 12
26. Java forward-prop using Apache Math lib Saturday, 21 April 12
27. Demo http://www.youtube.com/watch? v=DWNtsS2kZWs Saturday, 21 April 12
28. What’s Next? Saturday, 21 April 12
29. Outtakes Saturday, 21 April 12
30. You can too... blog.davidsingleton.org/nnrcar github.com/dps/nnrccar Saturday, 21 April 12