Detail

• SLAM and exploration of a mobile robot, University of Michigan (Sept. 2021 - Oct. 2021)
  • Programmed a mobile robot to perform SLAM and exploration tasks (First place in the contest out of 24 teams)
  • Implemented Monte Carlo Localization with sensor readings from a RPLidar, wheel encoders, and a gyroscope
  • Implemented Frontier Exploration with A-star algorithm for the robot (Fully explored the maze in the competition)
  • Reduced position errors from 90 cm to 3 cm when commanding the robot to drive a 1m square 8 times