Programmed small scale yet complex robot on the Robot Operating System on RACECAR platform (with Velodyne LiDAR)
Wall Following: Drove autonomously 0.5 meters away from a given wall with safety controller
Visual Servoing: Implemented a PD control algorithm to park the race car in front of the cone;
implemented similar control algorithm to make racecar follow a bright orange line on the ground.
Localization and Mapping: Implemented Monte Carlo Localization algorithm. Evaluated performance in the RACECAR simulation, RViz and the real car platform in MIT’s basement.
Motion Planning and Control: Implemented system that rapidly exploring random trees
(modified as RRT*) for path planning and pure pursuit for simultaneous tracking.
The Labyrinth: Navigated a maze of randomly placed obstacles, with no prior knowledge of the environment, and without collisions by generating & updating a map of environment using SLAM, developing a path planning algorithm, and designing a trajectory controller for car to follow a path closely
Website found here