ETD

• machine vision
• on-board SLAM.

This thesis presents the algorithms and system architecture of an autonomous vehicle on a 1:8 scale.
The vehicle introduced is composed of a set of software designed for robustness and reliability. In order to be able to travel autonomously, perception, estimation and control are incorporated into a single self-driven vehicle system.
In this work the first step has been analyzed, in which the vehicle knows the limits of the track using vision algorithms, building a map and the trajectory to be followed by an autopilot control algorithm.