Context
Worked on a mobile robot platform integrating SLAM, navigation, and simulation validation for deployment.
My Contribution
- Integrated SLAM-based localization with Nav2
- Tuned planners and controllers for robustness
- Built Gazebo simulation environments for sim-to-real validation
- Improved field reliability by targeting observed failure modes
Technical Details
Stack:
- SLAM localization
- Nav2 global planner + local controller
- Sensor integration and filtering
- Simulation-to-real validation in Gazebo
Main focus: reducing localization failures observed in field tests
Impact
- Improved navigation robustness in field operation
- Reduced localization dropouts
- Validated navigation behaviors in simulation before deployment
Media
TODO: Add captions (environment, failure case fixed, and before/after reliability).