Vision and GPS-based autonomous vehicle navigation using ...

(a) Steering of topology 4 (Test 4 LS)
Figure 7: Steering wheel using the test data.
(b) Steering of topology 5 (Test 3 HT)
(c) Velocity of topology 4 (Test 4 LS)
(d) Velocity of topology 5 (Test 3 HT)
Figure 6: Error histogram considering different hidden
layers of the best ANNs (MSE = 2.048 [topology
4] and MSE = 1.881 [topology 5]) (a) using steering
angle data of topology 4 (logistic sigmoid [LS]), (b)
steering angle data of topology 5 (hyperbolic tangent
[HT]), (c) velocity data of topology 4, and (d)
velocity of topology 5. The x axis shows the error.
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Figure 8: Velocity using the test data.
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