Projects
Here are some of my latest projects in motion planning, mapping, localization, and computer vision. Feel free to reach out to request code for a specific project.
• Used occupancy grid and Bresenham’s algorithm to map environment from lidar scans.
• Achieved simultaneous robot localization with a particle filter based on a differential drive action model and likelihood field.
• Performed a-star search to navigate to unknown frontiers, given the map and hypothesized robot pose.
• Built web simulator for any n-link robot with an XML specification using a forward kinematics tool.
• Added option for simulated robots to perform inverse kinematics via the Jacobian transpose method.
• Designed RRT-connect algorithm to plan obstacle-free paths for the Fetch robot.
• Wall-climbing robot uses a high speed propeller to push itself against a wall and a servo controlled pen to draw.
• User drawn shapes are captured via ADC from a 4-wire resistive touchscreen and sent to the robot via Bluetooth.
• Shapes are parsed for target setpoints and navigated to using time based open-loop control.
• Designed out-of-order pipelined processor for the RISC-V ISA in System Verilog using the R10K register renaming style.
• Achieved clock period of 15ns and CPI of 2.
• Implemented advanced features such as N-way superscalar, non-blocking L1 data cache, victim cache, g-share branch predictor, and instruction pre-fetching.
