Portable Obstacle Avoidance System with Kinect

I'm looking for an expert in robotics and object detection to help me build an obstacle avoidance system using a Kinect 1414 and a powerful yet cost-effective MainBoard. The system should be capable of:

- Object detection, tracking, and avoidance using techniques such as YOLO
- Communication with GPS, WIFI, BLE, and 5G
- Wired control for outside boards via UART, SPI, DIO -> to check the feasibility

The avoidance mechanism needs to cover at least two zones 180 degrees apart (front and back). If necessary, a low-cost radar could be integrated. The system should also synchronize terrain mapping with GPS.

I need you to propose a robust MainBoard that can run ROS and is budget-friendly. One possibility could be a smartphone with a light version of Linux or Android.

I will provide further details privately.