AlphaBot: Lane tracking with camera

Abb. 1: AlphaBot: Lane tracking with camera

Autor:	Syed Muhammad Abis Rizvi
Art:	Praxissemester
Studiengang:	ELE
Starttermin:	02.03.2026
Abgabetermin:	21.06.2026
Betreuer:	Prof. Dr.-Ing. Schneider
Sprache:	DE EN

Introduction

This is an Alphabot by waveshare which supports advanced navigation and sensing features. In this project our task is to drive the Alpha bot with in the right lane along the course by using a pixy2 camera and modify its speed limit. We also added a GY-85 gyroscope IMU sensor to record the Yaw rate so that we can later calculate the yaw angle from the yaw rate data, later we plan to add a Bluetooth module to get the data wirelessly.These components works together so that Alpha bot can drive independently in real time.

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, ${\mathrm{\Psi }}_T$).	1
5	Measurement errors must be appropriately filtered.	1
6	The 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 ${\dot{\mathrm{\Psi }}}_G$ the yaw angle ${\mathrm{\Psi }}_G$ must be determined and compared to the reference ${\mathrm{\Psi }}_T$ from Req. 4.	1
11	The AlphaBot's speed must be optimized to it's maximum.	1

SVN-Repository

https://svn.hshl.de/svn/HSHL_Projekte/trunk/AlphaBot

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