AlphaBot: Autonomous Lane Guidance with ArduCam

Abb. 1: Kamerasensor Arducam Mini 2MP

Autor:	Bertrand Mungu Cho
Art:	Project Work
Starttermin:	05.10.26
Abgabetermin:	09.01.27
Betreuer:	Prof. Dr.-Ing. Schneider
Sprache:	🇩🇪  🇬🇧

Introduction

Autonomous vehicles use video sensors for lane detection and lateral control. This project puts the Arducam Mini 2MP into operation.

Tasks

1. Familiarization with the topics Arduino, Arducam Mini 2MP
2. CAD design and 3D printing of the camera mount
3. Commissioning of the camera
4. Image processing for lane detection
5. Autonomous lane following (control)
6. Model-based development with MATLAB^®/Simulink
7. Testing and scientific documentation
8. Proof of functionality as a wiki article with animated GIF

Requirements

The project requires prior knowledge in the following subject areas. If you do not meet these requirements, you must acquire the necessary knowledge independently during the course of the project using literature and online courses.

1. CAD design with SolidWorks
2. 3D printing
3. Image processing
4. Optional: Model-based development with MATLAB^®/Simulink
5. Document versioning with SVN
6. Documentation using Word and the HSHL Wiki

Hardware

• AlphaBot with Arduino Uno R3 (we might update to R4 if you like)
• Arducam-Mini-5MP-Plus (B0067)

Requirements for the Scientific Work

• Scientific approach (project plan, etc.), useful article: Create a Gantt chart
• Weekly progress reports (informative); update the meeting minutes – live meeting with Prof. Schneider
• Project presentation in the Wiki
• Daily backup of work results in SVN
• Daily documentation of the hours worked
• Student Projects with Prof. Schneider
• Requirements for a Scientific Paper
• The Scientific Method and the Importance of Documenting Results

Getting Started

1. Transponder for the Student Lab from Mr. Ebmeyer
2. Security Infomation for the Student Lab (from Mr. Ebmeyer)
3. Wiki Access (from Mr. Schröder)
4. Plan your task with working packages and dependencies as a gantt chart.
5. Get started with programming the ArduCam with Arduino.
6. Document your steps in this article: Arducam Mini 2MP
7. Design mount for ArduCam. Reuse or optimise the existing design.
8. Print the mount an attach it to the AlphaBot.
9. Document the new mount in SVN and your Wiki Article.
10. Research how to programm the ArduCam via MATLAB/Simlink.

System Design

1. ArduCam B0067 acquires image and sends it via SPI to Uno R4
2. PC acquires the Image in MATLAB via UDP/Wifi from the Uno R4
3. Image processing with MATLAB on the PC
   1. undistort image
   2. lane detection
4. Calculating the control values with MATLAB on the PC.
5. Send the control values to Uno R4.
6. Lane Guidance Controller on R4

Prof. Schneider

• SVN Login
• Repository
• CAD files

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