Development of an obstacle recognizing and avoiding autonomous vehicle

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Nagy Ákos
Department of Automation and Applied Informatics

The topic of this thesis is the autonomous vehicle, specifically for open terrain navigation. The main goal of this project was to create an autonomous ground vehicle (AGV), which is able to start from a specified position (GPS coordinates) and maneuver itself to a goal position given by a set of final coordinates. During the trip, the vehicle has to sense the environment, determine the obstacles and avoid them. This document is based on previous articles and projects on the topic of autonomous vehicles. It describes a possible construction of the hardware and the software that fulfills the requirements needed for the AGV to reach its goal position. The hardware description also covers the mechanical and electrical layout and implementation. In addition, the entire process of software design from measuring and environment mapping to path planning and tracking is presented. The results are also discussed and examples of the functionality of the completed vehicle are presented, as well as further development options as a possible continuation direction.


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