GRAPH-BASED DYNAMIC OBSTACLE AVOIDANCE

Refined a local planner utilizing anytime Astar to do dynamic obstacle avoidance making use of prediction. Implemented multithread planning & control to simulate real-world driving

 
 

MODEL PREDICTIVE AUTONOMOUS NAVIGATION

Co-implemented non-linear MPC for obstacle avoidance and lane change on highways using ACADO for varying road friction cases. Achieved run-time of 20-50 ms with an Intel® Core™ i7.

 
 

AUTONOMOUS F1/10th CAR

Implemented Adaptive Cruise Control and Lane Keeping algorithms on Traxxas F1/10th car using MATLAB. Successfully tested V2X communication for traffic handling using UDP.

 
 

ROBOT PLANNING AND CONTROL

Developed algorithms to plan and control a Wheeled Mobile manipulator motion using Pseudoinverse, Auxiliary constraints and Artificial potential in both Task space and Joint space, simulated in V-REP.