期刊名称：International Journal of Advanced Computer Science and Applications(IJACSA)
印刷版ISSN：2158-107X
电子版ISSN：2156-5570
出版年度：2019
卷号：10
期号：9
页码：413-420
出版社：Science and Information Society (SAI)
摘要：The aim of this paper is the design, simulation,
construction and programming of the autonomous vehicle,
capable of obstacle avoidance, object tracking also image and
video processing. The vehicle will use a built-in camera for
evaluating and navigating the terrain, a six-axis accelerometer
and gyro for calculating angular velocities and accelerations,
Arduino for interfacing with motors as well as with Raspberry Pi
which is the main on-board computer. The design of the vehicle is
performed in Autodesk Fusion 360. Most of the mechanical parts
have been 3D printed. In order to control the chassis of the
vehicle through the microcontrollers, the development of the
PCB was required. On top of this, a camera has been added to
the vehicle, in order to achieve obstacle avoidance and perform
object tracking. The video processing required to achieve these
goals is done by using OpenCV and Convolutional Neural
Network. Among other objectives of this paper is the detection of
traffic signs. The application of the Convolutional Neural
Network algorithm after some of the examinations made has
shown greater precision in recognizing STOP traffic sign of
different positions and occlusion ratios, and finding the path for
the fastest time.
