Autonomous Road Surveying
| 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
- Familiarization with the topic
- Set up requirements for the system
- Research on solutions for the task
- Implementation in MATLAB® - input are video and steering angle
- Evaluation of the solutions using a morphological box ([https://en.wikipedia.org/wiki/Morphological_box Zwicky box)
- Implementation the most promising on the JetRacer
- CAD design and 3D printing of prism mount for the JetRacer
- Prism assembly and recording of the vehicle movement
- Evaluate the results based on technical features
- Provision of the digital map as a MATLAB® file (
.mat) - Use of a Kalman filter to smooth the measured values
- Combination of map and dynamic vehicle (mapping)
- Discussion of the results
- Test and scientific documentation
- 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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