Our Capstone Project is developing a low-cost autonomous driving platform that allows the robot to navigate to the destination and proactively avoid obstacles along the way using limited sensor input. It is built on the RDK-X3 robot car and the pipeline combines global path planning, onboard perception, and reinforcement learning. A key motivation of the project is to reduce reliance on heavy sensing, constant server communication, and expensive computing. We trained the model in simulation and deployed it in a real-world setting to evaluate how well it performs under chaotic driving conditions.