Abstract
A low-cost small-scale autonomous vehicle refers to a self-driving vehicle that is affordable and designed for smaller applications or purposes. The firefly algorithm was used to solve obstacle-avoiding problems due to dynamic or static uncertain positioned obstacles. The autonomous vehicle reached the determined position, which could be considered accurate. Regardless of the starting point, it arrived at the defined destination in an area with a diameter of 5 meters. Considering the costs of the sensors, simple algorithm, not very powerful processor and circuit elements, sufficient success has been achieved.
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