autonomous systems

Kamera-basierte Minimalautonomie

This thesis deals with the construction of an autonomous driving, minimal system. The used processor is a microcontroller and the only sensor is a camera. After describing the hardware, which contains an own design of the chassis, the software basics …

Miniature Autonomy as One Important Testing Means in the Development of Machine Learning Methods for Autonomous Driving: How ML-Based Autonomous Driving Could Be Realized on a 1:87 Scale

In the current state of autonomous driving machine learning methods are dominating, especially for the envi- ronment recognition. For such solutions, the reliability and the robustness is a critical question. A “miniature autonomy” with model …

Miniaturautonomie und Echtzeitsysteme

In Tagungsband Echtzeit 2019, Springer Lecture Notes. Springer. (accepted)

Visuelle Navigation für ein Autonomes System mit minimalen Hardwareanforderungen

Simulation abstrakter Umweltszenarien zur Validierung kamerabasierter Fahrspur- und Elementerkennungsalgorithmen für den Einsatz auf autonomen Modellfahrzeugen

This paper is concerned with improving the testing conditions within the Carolo-Cup project through the addition of a simulator for generating testing images. Within the Carolo project, autonomous model vehicles are developed for participation in …

Robust setup of an Autonomous Mobile Robot research platform with multi-sensor integration in ROS

The paper describes the implementation of an Autonomous Mobile Robot able to na- vigate the environment by combining range and odometry data from LiDAR and wheel encoders sensors in the Robot Operating System (ROS) framework. The SLAM algo- rithm …

Robot Control Paradigms for reactive systems implemented in modern C++ standards

Within this document will be the deliberative, reactive and hybrid robot control paradigms by reference to one or more representative robot control architecture with regard to quality characteristics, reactive system requirements, recommended fields …

Bewegungssteuerung eines vierbeinigen Roboters

Im Wahlpflichtkurs „Deeply Embedded“ sollte zum Abschluss als kleines Projekt ein Roboter gebaut werden, der auf (insektenartigen) Beinen läuft. Als Plattform für die Steuerung sollte ein BeagleBone Black von BeagleBoard verwendet werden. Dabei war …

Streckenkarte für die vorausschauende Längsregelung spurbasierter autonomer Fahrzeuge mittels Multisensor

Echtzeitfähige Startpunktalgorithmen für kamerabasierte Fahrspur-, Kreuzungs- und Hindernisidentifikation

The topic of this work is a lane recognition software for the Carolo-Cup. Methods to obtain the requiered information for speed regulation and the steering angle estimation from camera image data will be presented.