Designing and Controlling an Autonomous Vehicle using Wireless Communication and Motor Encoder Data for Return-to-Home

This research presents the development of a car controlled by human input wirelessly, and later upon request returning back to its starting location autonomously. This return to home functionality aimed to achieve a centimetre level precision with a power efficient and low-cost solution, eliminating the use of a GPS, camera or any other external sensor and relying solely on motor-mounted encoders. An overview of the development procedure for the hardware, software and implementation of the car is presented in this paper.