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Anh Tung Ho
Email: hoanhtung2000nd@gmail.com
Introduction
A team project to develop an autonomous hovercraft controlled by air-cushion lifting mechanism to effectively eliminate friction during movement. The hovercraft was navigated to discover the map and stopped accurately in the targeted zones.
Led a team of 5 people to finish the lap in the shortest amount of time compared to other teams.
Method
Optimized hardware design to enhance floating dynamic stability.
Designed mechatronics systems with integration of electronic components, sensors, motors and Rasp Pi microcontroller.
Developed a full-state feedback LQR controller for propellers to optimize thrust and lifting force, ensuring seamless mobility.
Developed Lidar-Inertial-based path planning and localization algorithm with error within 5cm.
Created Gazebo simulation environment to verify algorithms.
Result
The hovercraft autonomously travelled around the map within 30 seconds.
Stopped accurately at designate location.
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