Autonomous Mapping:
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Presented a high-level navigation algorithm on a 2-wheeled robot with a LiDAR scanner using RTAB-Map and ROS. GitHub YouTube
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Created a gazebo world with unique identifiers to prevent RTAB-Map loop closures.
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Tuned the move_base path planner to determine safe points for waypoint navigation.
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Successfully solved the autonomous mapping problem and avoided obstacles for an extended time.
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Waypoint Tracking:
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Applied PID control to the turtlesim robot for waypoint tracking with the help of Python scripts in ROS. GitHub YouTube.
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Balance Cart-pole system:
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Balanced the pole of a cart pole system in the gazebo simulator with an LQR controller. GitHub YouTube
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Simulation Result from Rviz
Simulation Result turtlesim window
Simulation Result from gazebo
PROJECTS
Autonomous Exploration Systems, ASU
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Presented a supervisor agent that employs deep reinforcement learning to increase its speed on a multi-lane freeway, enhancing driver assistance systems. Report
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Trained the RL agent with different reward structures in Python to observe the performance of the agent in the pygame window. GitHub
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Created MATLAB scripts to plot the variation in average speed.
Simulation Result from pygame window
Reinforcement Learning for ADAS, ASU
Simulation of Robust Adaptive Control Algorithms, ASU
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Implemented the gradient and least square parameter estimation algorithms (PEA) to the provided plant models.
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Designed indirect adaptive controllers for the estimated plant models to achieve pole placement and LQG control objectives and incorporated dead-zone modification to improve robustness.
Simulink Block Diagram
Plot of Output and Input
Plot of Estimated Parameters
Simulation of Robust Adaptive Control Algorithms, ASU
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Proposed to stabilize an autonomous bike
by implementing both a state feedback control and a
sliding mode control for the steering angles of the bicycle. Report
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Analyzed the stability of the vehicle with
our designed controllers by performing simulations in
Mathworks Simulink software. GitHub
