AlphaBot: Lane tracking with camera

Abb. 1: AlphaBot: Lane tracking with camera

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

Table 1: Requirements for the Unit

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, ${\mathrm{\Psi }}_T$).	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 ${\dot{\mathrm{\Psi }}}_G$ the yaw angle ${\mathrm{\Psi }}_G$ must be determined and compared to the reference ${\mathrm{\Psi }}_T$ from Req. 4.	1
11	The AlphaBot's speed must be optimized to it's maximum.	1

SVN-Repository

https://svn.hshl.de/svn/HSHL_Projekte/trunk/AlphaBot

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