- Description: As a full-stack robotics engineer, developed a fully autonomous unmanned surface vehicle (USV). Utilized a PX4 flight controller and an Intel NUC running ROS2 Humble as the control module to achieve automatic navigation based on GNSS sensors. This project aims to enhance the autonomy and reliability of USVs for applications in environmental monitoring, marine research, and more.
- Role and Contribution:
- Conducted full-stack development, including the design, manufacturing, and assembly of a USV platform.
- Integrated electromechanical systems and developed algorithms for autonomous navigation leveraging LiDAR-based perception and planning strategies.
- Successfully implemented the system for real-world navigation tasks, demonstrating reliability and adaptability.
Tech Stack
- Hardware:
- Controller: PX4 Flight Controller
- Compute Module: Intel NUC running ROS2 Humble
- Sensors: GNSS module, LiDAR, IMU
- Drive System: Electric thrusters and servo-controlled rudders
- Software:
- Operating System: Ubuntu 22.04
- Robot Middleware: ROS2 Humble
- Navigation Algorithms: Real-time localization and mapping using Fast LIO
- Control Algorithms: Motion control and path planning based on PX4
Key Features
- Autonomous Navigation: Achieves precise localization and path planning using GNSS and LiDAR, supporting obstacle avoidance in complex environments.
- Real-Time Data Processing: High-frequency sensor data acquisition and processing to ensure stable vehicle operation.
- Remote Monitoring & Control: Enables remote monitoring and manual intervention via wireless networks when necessary.
- Energy Management: Efficient energy management system to extend the vehicle’s operational duration.
