LOW-COST PLATFORM FOR AUTONOMOUS GROUND VEHICLE RESEARCH

摘要

This research paper investigates what it takes to design an affordable autonomous ground vehicle platform from the ground up. Using a handful amount of readily available parts, a go-kart sized vehicle was built and functional for approximately $400. Using an independent direct drive rear wheel system the vehicle can achieve a fixed axis rotation. Using vision algorithms loaded onto a Raspberry Pi the robot is able to detect a red target and send commands to the Arduino. The Arduino controls the motion logic and allows the vehicle to follow the target. The vehicle can also be driven manually using a hand held controller. This platform will allow for expansion of the project into more complex tasks.