Autonomous Robotics

Project information

  • Category: Autonomous Driving
  • Context: University of Washington
  • Year:: 2023
  • Github: Link to repo

The project was developed as part of the EEP 545 Autonomous Robotics course at the University of Washington. The project was developed using the 1/10th scale MuSHR rally car. I have implemented various state-of-the-art methods and algorithms on the diverse robotic platform.

  • Control: PID and MPC (Model Predictive Control).
  • Localization: Particle Filter (PF) and Extended Kalman Filter (EKF) with Odometry / Velocity Motion and Beam / Landmark-based Sensor Models.
  • Path Planning: RRT / RRT* / A* / LPA*.
  • Simulation Environment: ROS and RVIZ
  • Languages and Tools: Python