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By Thomas Besselmann, Tobi Delbrück, Prof Manfred and Morari Abstract

Abstract

Zurich (ETHZ), a dynamic vision sensor for fast visual processing has been developed. The dynamic vision sensor uses a silicon retina to detect contrast changes in a scene. An ongoing project is to develop a controller based on a silicon retina for a small robotic monster truck. The goal of the project is to drive at high speed along a drawn route. In this semester project, a dynamical model of the RC monster truck is derived and a simulation environment to test retina-based control strategies is developed. The simulation is based on Blender, a powerful open-source modeling environment. Further, first control strategies for event-based lateral control are implemented and tested in the simulation, as well as on the real vehicle. At the end of this semester project, the truck is able to follow a chalk drawn line at a little more than walking pace. iii Content

Year: 2011
OAI identifier: oai:CiteSeerX.psu:10.1.1.192.2280
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