Autonomous Road Surveying

Fig. 1: Track in the Lab im Labor Autonome Systeme

Autor:	Qamar Sajjad
Art:	Bachelorarbeit/bachelor thesis
Starttermin:	TBD
Abgabetermin:	TBD
Betreuer:	Prof. Dr.-Ing. Schneider

Einführung

A model car (scale 1:20) equipped with a camera should drive autonomously in the right lane. Usually this is done by image processing. In this bachelor thesis steering angle and video are used to train an artificial intelligence (AI) to drive autonomously on the track (see Fig. 1)

Aufgabenstellung

1. Familiarization with the topic
2. Building a line tracker with an AlphaBot
3. CAD and printing of prism mount
4. Prism assembly and recording of the three lanes
5. Follow-up of the measurement data
6. Provision of the digital map as a MATLAB^® file (.mat)
7. Use of a Kalman filter to smooth the measured values
8. Combination of map and dynamic vehicle (mapping)
9. Discussion of the results
10. Test and scientific documentation
11. Proof of functionality as a wiki article with animated gif

Knowledge Requirements

The project requires prior knowledge in some but not all of the following subject areas. If you do not meet the requirements, the task can be individually adapted based on your previous knowledge.

• Model making (e.g. woodworking, metalworking, CAD, 3D printing)
• MATLAB^®/Simulink
• Robotics
• Control technology (line tracker)
• Document versioning with SVN
• Documentation with Word and in the HSHL Wiki.

Requirements for scientific work

• Scientific approach (project plan, etc.), useful article: Create Gantt chart
• Weekly progress reports (informative), update the table Meeting Minutes in conversation with Prof. Schneider
• Project presentation in the wiki
• Daily backup of work results in SVN
• Student work with Prof. Schneider
• Requirements for a scientific work

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