AlphaBot: Lane tracking with camera: Unterschied zwischen den Versionen
Zur Navigation springen
Zur Suche springen
| (6 dazwischenliegende Versionen von einem anderen Benutzer werden nicht angezeigt) | |||
| Zeile 19: | Zeile 19: | ||
= Introduction = | = Introduction = | ||
The [[Gy-85 IMU]] is used. | |||
= Requirements = | = Requirements = | ||
{| class="wikitable" | {| class="wikitable" | ||
| Zeile 31: | Zeile 33: | ||
| 3 || The AMR must evaluate the road data via camera ([[Camera Sensor Pixy 2.1|Pixy 2.1]]) to follow the lane.|| 2 | | 3 || The AMR must evaluate the road data via camera ([[Camera Sensor Pixy 2.1|Pixy 2.1]]) to follow the lane.|| 2 | ||
|- | |- | ||
| 4 || The reference values must be recorded with MATLAB (x, y, <math>\Psi_{T}< | | 4 || The reference values must be recorded with MATLAB (x, y, <math>\Psi_{T}</math>). || 1 | ||
|- | |- | ||
| 5 || Measurement errors must be appropriately filtered. || 1 | | 5 || Measurement errors must be appropriately filtered. || 1 | ||
| Zeile 43: | Zeile 45: | ||
| 9 || MATLAB®/Simulink must be used as the control software. || 1 | | 9 || MATLAB®/Simulink must be used as the control software. || 1 | ||
|- | |- | ||
| 10 || From the measured yaw rate the yaw angle <math>\Psi_{G}< | | 10 || From the measured yaw rate <math>\dot{\Psi}_{G}</math> the yaw angle <math>\Psi_{G}</math> must be determined and compared to the reference <math>\Psi_{T}</math> from Req. 4. || 1 | ||
|- | |- | ||
| 11 || The AlphaBot's speed must be optimized to it's maximum. || 1 | | 11 || The AlphaBot's speed must be optimized to it's maximum. || 1 | ||
| Zeile 62: | Zeile 64: | ||
= Related Links = | = Related Links = | ||
= SVN-Repository = | |||
https://svn.hshl.de/svn/HSHL_Projekte/trunk/AlphaBot | |||
---- | ---- | ||
→ zurück zum Hauptartikel: [[Aufbau_und_Test_eines_Autonomen_Fahrzeugs|Aufbau und Test eines Autonomen Fahrzeugs]] | → zurück zum Hauptartikel: [[Aufbau_und_Test_eines_Autonomen_Fahrzeugs|Aufbau und Test eines Autonomen Fahrzeugs]] | ||
Aktuelle Version vom 17. März 2026, 10:47 Uhr
| Autor: | Syed Muhammad Abis Rizvi |
| Art: | Praxissemester |
| Studiengang: | ELE |
| Starttermin: | 02.03.2026 |
| Abgabetermin: | 21.06.2026 |
| Betreuer: | Prof. Dr.-Ing. Schneider |
| Sprache: | DE EN |
Introduction
The Gy-85 IMU is used.
Requirements
| Req. | Description | Priority |
|---|---|---|
| 1 | An AMR must drive autonomously in the right-hand lane. | 1 |
| 2 | The Topcon Robotic Total Station is used as the reference measurement system. | 1 |
| 3 | The AMR must evaluate the road data via camera (Pixy 2.1) to follow the lane. | 2 |
| 4 | The reference values must be recorded with MATLAB (x, y, ). | 1 |
| 5 | Measurement errors must be appropriately filtered. | 1 |
| 6 | TThe two-dimensional digital map showing the robot's pose during movement must be provided as a MATLAB® file (.mat). | 1 |
| 7 | The solution path and solution must be documented in this wiki article. | 1 |
| 8 | An AlphaBot must be used as the AMR. | 1 |
| 9 | MATLAB®/Simulink must be used as the control software. | 1 |
| 10 | From the measured yaw rate the yaw angle must be determined and compared to the reference from Req. 4. | 1 |
| 11 | The AlphaBot's speed must be optimized to it's maximum. | 1 |
Working principle
Technical Overview
Pin Assignment
Measurement method
Measuring Circuit
Software
Arduino IDE
Simulink
Measurement
Video
Datasheets
Related Links
SVN-Repository
https://svn.hshl.de/svn/HSHL_Projekte/trunk/AlphaBot
→ zurück zum Hauptartikel: Aufbau und Test eines Autonomen Fahrzeugs