Autonomous Planning & Navigation
7 projects use this
Gesture-Controlled Robot with Raspberry Pi and Arduino Integration
Created an embedded human-robot interaction system where a sensor-equipped glove controlled a robotic vehicle via gestures, combining Arduino, Raspberry Pi, ROS, and wireless communication.
Adaptive Heuristic Exploration for Autonomous Mapping on Turtlebot
Developed autonomous navigation algorithms for Turtlebot using ROS, Python, C++, and Gazebo, combining heuristic planning and sensor feedback to optimize exploration paths in unknown environments.
Manipulator Trajectory Optimization Using Interior Point Methods
Implemented optimal trajectory planning for a 2-DOF robotic manipulator using CasADi and IPopt, applying direct optimal control to optimize motion for energy, time, and torque objectives.
Sampling-Based Motion Planning: Speed vs. Optimality
Compared sampling-based motion planners in Python by applying RRT and RRT* to a Dubins vehicle, demonstrating improved path optimality through rewiring while respecting vehicle constraints.
Maze Navigating Robot Localization Using 2D LiDAR and Particle Filter SLAM
Led software development for a ROS-based autonomous robot using Python, C++, LiDAR, Hector SLAM, and AMCL for mapping, localization, and navigation with real-time obstacle avoidance.
Robust Visual Navigation Using Semantic Segmentation and Sensor Fusion
Developed a ROS2 autonomous navigation pipeline using Python, OpenCV, PyTorch, and LEDNet for real-time trail segmentation, combining YOLOv7, lidar, and camera fusion for pedestrian-aware robotic navigation.
Sim to Real Drone Racing with RRT* Planning
Developed autonomous drone racing capabilities using Python, RRT*, and PyBullet, combining trajectory optimization, polynomial path fitting, and sim-to-real deployment on a Crazyflie quadrotor.