Introduction

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, $Ψ_{T}$ ).	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 ${\dot{Ψ}}_{G}$ the yaw angle $Ψ_{G}$ must be determined and compared to the reference $Ψ_{T}$ from Req. 4.	1
11	The AlphaBot's speed must be optimized to it's maximum.	1