JetRacer: Spurführung mit künstlicher Intelligenz und MATLAB/Simulink: Unterschied zwischen den Versionen

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== Choose Environment ==
== Choose Environment ==
* For this thesis, MATLAB will be used as a main Application. It has several advantages while doing the process such as real time system [https://de.mathworks.com/help/slrealtime/gs/real-time-simulation-and-testing.html], extensive MATLAB libraries and toolboxes, compatibility with Jetson nano hardware[https://de.mathworks.com/help/coder/nvidia/ref/jetson.html#mw_82bd63bc-9f39-4bf7-8b06-794227589348] .   
* For this thesis, MATLAB will be used as a main Application. It has several advantages while doing the process such as real time system [https://de.mathworks.com/help/slrealtime/gs/real-time-simulation-and-testing.html], extensive MATLAB libraries and toolboxes, compatibility with Jetson nano hardware [https://de.mathworks.com/help/coder/nvidia/ref/jetson.html#mw_82bd63bc-9f39-4bf7-8b06-794227589348] .   
* [https://de.wikipedia.org/wiki/Morphologische_Analyse_(Kreativit%C3%A4tstechnik) morphologic box (Zwicky box)]
* [https://de.wikipedia.org/wiki/Morphologische_Analyse_(Kreativit%C3%A4tstechnik) morphologic box (Zwicky box)]


Version vom 13. November 2023, 07:19 Uhr

Abb. 1: JetRacer AI Pro von Waveshare

Autor: Md Limon Apu
Art: Bachelorarbeit
Starttermin: 16.10.2023
Abgabetermin: 14.01.2024
Betreuer: Prof. Schneider

Einführung

Der JetRacer ist ein Modellbaufahrzeug im Maßstaß 1:10. Der Hauptsensor ist eine Monovideokamera und die Datenverarbeitung erfolgt auf einem NVIDIA® Jetson Nano™.

Aufgabenstellung

  1. Einarbeitung in das bestehende Framwework und Dokumentation
  2. Nutzung von MATLAB®/Simulink zum Anlernen des Jetson Nano.
  3. Implementierung und Optimierung eines Reglers für die Spurführung (z. B. PD-Regler)
  4. Anlernen der KI für den Rundkurs im Labor Autonome Systeme
  5. Optimierung der Spurführung anhand der Parameter Fahrgeschwindigkeit und Präzision der Spurführung
  6. Bewertung der Vor- und Nachteile der Programmierungebungen
  7. Dokumentation nach wissenschaftlichem Stand im HSHL-Wiki

Project Plan

The planning of the entire project
Worktime in the lab - Monday & Friday
Weekly Lab meeting - Monday


Research Results

Researching on the topic two most important part is Jetracer & Line following algorithm. And lots of research has been done on those regards topic and following are some notable references and which will be implemented on during this thesis duration.

  • Jetracer is a AI based race car made by NVIDIA [1] for various project such as line following , the full configuration, connectivity and other material of the Jetracer can also be found in the official GitHub Jetracer page [2].
  • For configuration and Connecting to the network following the link Jetracer: Teach-In Tutorial can be helpful to set up the full process.
  • Describing the training process and experiments related to autonomous movement [3], this paper can give an clear outline for the full process. Also for object and design development [4] this paper give full insight with CNN and more technique.
  • Line following following process is can be difficult in various way, for vision based technique shown in this paper [5] its also very challenging to achieve the goal. And for CNN based technique which also can be done [6] has been discussed in the paper.
  • Lastly for motion control of the Jetracer which will be operate real time the system can be control & manage is achieve in this paper [7].
  • Additional resources : For steering angle prediction [8], MATLAB deep learning model [9], Video classification in MATLAB [10].


  • As a Result while doing the research both of the method(Computer vision and CNN) can be done extensively and mostly vision based technique will be used in this process.

Choose Environment

  • For this thesis, MATLAB will be used as a main Application. It has several advantages while doing the process such as real time system [11], extensive MATLAB libraries and toolboxes, compatibility with Jetson nano hardware [12] .
  • morphologic box (Zwicky box)

Hard- and Software Setup

Component Requirements

Hardware Requirements

Software Requirements

Anforderungen

Das Projekt erfordert Vorwissen in den nachfolgenden Themengebieten. Sollten Sie die Anforderungen nicht erfüllen müssen Sie sich diese Kenntnisse anhand im Rahmen der Arbeit anhand von Literatur/Online-Kursen selbst aneignen.

  • Erfahrungen mit Künstlicher Intelligenz/Deep Learning
  • Programmierung in MATLAB®, C++, Python
  • Dokumentenversionierung mit SVN

Anforderungen an die wissenschaftliche Arbeit

SVN-Repositorium

Getting started

Lesen Sie zum Einstieg diese Artikel

Mögliche Folgethemen

  • Kreuzungserkennung
  • Vorfahrterkennung
  • Hinderniserkennung und Umfahrung
  • Schildererkennung

Nützliche Artikel

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