An ART2 and a Madaline combined neural network is applied to predicting object motions in dynamic environments. The ART2 network extracts a set of coherent patterns of the object motion by its self-organizing and unsupervised learning features. The identified patterns are directed to the Madaline network to generate a quantitative prediction of the future motion states. The method does not require any presumption of the mathematical models, and is applicable to a variety of situations.