Badri-R-S's repositories
Implementation-of-Hector-SLAM-and-Autonomous-Navigation
Designed a mobile robot controlled using Raspberry Pi. Used hector mapping and AMCL to map the environment and localize the robot. Dijkstra Algorithm was used to autonomously navigate the robot.
Custom_global_planner
Implementation of A*,Dijkstra,RRT and BFS in C++ for Turtlebot3 and Gazebo
DWA_Dijkstra_Turtlebot3
Simulated and analyzed different path planning algorithms such as DWA and Dijkstra in a custom world modeled in Autodesk Fusion 360. The modeled world was imported to Gazebo, and the paths planned by turtlebot3 were visualized in Rviz.
EKF_sensor_fusion
Implementation of extended kalman filter in C++ that fuses data from lidar and radar to track a bicycle moving around a car
ENPM662_Project1
Designed a custom mobile robot with independently steerable front wheels in SOLIDWORKS and exported it into the Gazebo simulator and teleoperated with the ROS teleoperation node. Additionally, a publisher and a subscriber node were written to control the robot.
RRT_connect_diffdrive
Implemented RRT_connect on turtlebot3
UKF_sensor_fusion
Implemented a Unscented Kalman Filter and Sensor Fusion to track the position, velocity, yaw and yaw rate of a bicycle maoving closely around a car.
2D_Particle_filter_for_Localization
This project involves a vehicle that is lost in a map. It uses an initial estimate of it's position from GPS and distances from landmarks measured by LIDAR and utilizes a particle filter to localize itself in the map
Apprenticeship-Learning-via-IRL-F1TENTH-GYM
Implmented Apprenticeship learning via IRL for the f1tenth gym that uses ROS2 Foxy.
Behavioral_Cloning
Implementation of Behavioral Cloning algorithm to train a car to autonomously drive in a simulator.
LQR_iLQR_DDP_Feedback-Linearization
Designed LQR and iLQR controllers for multiple non-linear systems describing scenarios such as cart-pole balancing, helicopter hovering, hopper stabilization, and trajectory following for helicopter flight.
Value-iteration-and-Maxentropy-iteration
Implemented value iteration to solve a Markov decision process describing a two-dimensional grid with an agent trying to reach from one corner to another. The algorithm was tested with a deterministic policy that maximizes the reward at each step, and a maximum entropy policy that maximizes entropy at each step.
VisualOdom
Estimated the motion of a robot using classical computer vision techniques such as the point-n-perspective, local outlier factor, LMeds, and stereo vision with the KITTI dataset.
Ackermann_Kinetic_model
Designed and implemented a controller for an Ackermann kinematic model that could take inputs such as goal location and goal heading and apply the appropriate control input to the motors of the vehicle. The inputs were target heading angle and velocity. The outputs were the steering angles and angular velocities for each of the front wheels.
Delbot
The aim of this project is to build an omni directional mobile manipulator that can be used for delivery of groceries and food.
ENPM667-Project-2
Designed an LQG controller using MATLAB for a system consisting of a mobile crane and two pendulums suspended from it. The non-linear system was linearized, and an LQR controller was designed for both linearized and non-linearized systems. A Luenberger observer was designed for a set of observable states and an LQG controller was designed.
ENPM808X-Week5
ENPM 808X week 5 project
Extended-Kalman-Filter
Implemented the extended Kalman filter for the state (x, y, yaw) estimation of a differential drive robot moving in a circle. The robot had been simulated using a Gazebo physics simulator.
Introspective-Vision-SLAM
Implemented and innovated a SLAM (Simultaneous Localization and Mapping) solution based on Introspective Vision. Specifically focusing on scenarios where scene features vary across different angles, developing methods to intelligently merge disparate features, thereby enhancing overall feature extraction efficiency, and imporove localization
Orient_estimation
Rotation estimation of an object of interest between two images
PID_Controller_TDD
This is the implementation of a basic PID controller with Test Driven Development.
Pitch_Yaw_Estimation
Predict the direction of travel in camera frame from given dashcam videos
Ros2_roomba_obstacle_avoidance
Simulation of obstacle avoiding robot in ROS2 using turtlebot3