Controlled Autonomous Driving for a JetRacer: Unterschied zwischen den Versionen
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= Introduction = | = Introduction = | ||
The [[JetRacer:_ROS_AI_Kit]] can be programmed in different ways | The [[JetRacer:_ROS_AI_Kit]] can be programmed in different ways. The mechatronic student learn to develop C-code, m-code oder model based development with simulink. The task is to develop a "easy to use" framework to get quick results. After choosing the toolchain based on a morphological box an attachment for the reference prism ([[Referenzmessung_mit_der_Topcon_Robotic_Total_Station]]) has to be build. By this the ground-truth-data (vehicle pose) can be recorded for further analyzing. The main task is to develop a program that acquires an image frame, transforms it into bird-eye-view to measure the lane's curvature. Based on the lane curvature and actual driving status the car should steer into the right lane. Optional a gyroscope can measure the yaw-rate of the JetRacer. | ||
The goal is to drive in the right lane as fast as possible. | |||
= Links = | = Links = | ||
* [https://www.waveshare.com/jetracer-ros-ai-kit.htm JetRacer ROS Kit] | * [https://www.waveshare.com/jetracer-ros-ai-kit.htm JetRacer ROS Kit] | ||
* [https://www.waveshare.com/wiki/JetRacer_ROS_AI_Kit Waveshare-Wiki: JetRacer ROS AI Kit] | |||
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→ zurück zum Hauptartikel: [[Offene_Themen_von_Prof._Schneider| Studentische Arbeiten]] | → zurück zum Hauptartikel: [[Offene_Themen_von_Prof._Schneider| Studentische Arbeiten]] | ||
Version vom 30. Oktober 2025, 15:43 Uhr
| Autor: | Yashodhan Vishvesh Deshpande |
| Art: | bachelor thesis |
| Starttermin: | TBD |
| Abgabetermin: | TBD |
| Betreuer: | Prof. Dr.-Ing. Schneider |
Task List
- Research of similar projects
- Evaluation of the solutions using a morphological box (Zwicky box)
- Choose a software toolchain
- Design and print a platform for the TopCon-prism.
- Record the ground truth data
- Track the JetRacer on a digital map.
- Control the JetRacer in the right lane without obstacles by camera data.
- Evaluate the results based on technical features
- Discussion of the results
- Testing of the system requirements - proof of functionality
- Scientific documentation as a report
- Scientific advertising as a wiki article with a result video.
Introduction
The JetRacer:_ROS_AI_Kit can be programmed in different ways. The mechatronic student learn to develop C-code, m-code oder model based development with simulink. The task is to develop a "easy to use" framework to get quick results. After choosing the toolchain based on a morphological box an attachment for the reference prism (Referenzmessung_mit_der_Topcon_Robotic_Total_Station) has to be build. By this the ground-truth-data (vehicle pose) can be recorded for further analyzing. The main task is to develop a program that acquires an image frame, transforms it into bird-eye-view to measure the lane's curvature. Based on the lane curvature and actual driving status the car should steer into the right lane. Optional a gyroscope can measure the yaw-rate of the JetRacer.
The goal is to drive in the right lane as fast as possible.
Links
→ zurück zum Hauptartikel: Studentische Arbeiten