*4.1.1 Neural network topology*

The following decisions were made:


The MLP topology for this project is as follows (**Figure 10**):

The first layer is the input layer—this has 100 nodes to represent the 100 values in the one-dimensional array the live image is converted to. Each one of these nodes represents 1 pixel in the 10x10 image.

**Figure 10.** *System topology.*

The second, third and fourth layers have 50, 25 and 12 nodes, respectively; these are known as hidden layers, and these sizes are calculated automatically.

The fifth layer which happens to be the output layer has three nodes, which all correspond to the steering control instructions:

