Work Experience

The Hitech Robotic Systemz Ltd., Gurgaon, India

Integrated 2D lidar based Adaptive Monte Carlo Localization (AMCL) algorithm for different platforms – Autonomous Pallet Jack for pallet handling and Autonomous Ground Vehicle (AGV) for logistic tugging applications.
Developed a method for finding the optimal values of probabilistic motion model parameters which best represents the noise in odometry for a given robot. Optimal motion model parameters increase the robustness of the AMCL by reducing total localization failures occurring due to dynamism in the environment or perceptual aliasing.
Resolving perceptual aliasing in large and symmetric factory maps. Modified the search space of AMCL from throughout the map to area nearby the robot when global localization failure occurs. This prevented AMCL from converging to wrong positions in highly symmetric maps.
Extended maps with multi map localization module which lets the robot to switch between multiple 2D maps depending on robot's pose. This also improved loop closures.
Worked on pure pursuit path tracking algorithm for robot navigation. Used nonholonomic trajectory generation based on real-time perceptual information for pallet picking and to maneuver the robot through constraint spaces like tight turns between the narrow aisle.

Designed a controller for multi agent sequential composition which comprised of a continuous, piecewise affine field over a convex polygon.
The trajectory of any particle which flows along the vector field starting from within the domain of controller must leave the polygonal controller through a specified goal in finite time.

Project Details

9 DOF Snake Robot was fabricated, where single degree of freedom rotary joints are alternatively oriented in vertical and horizontal plane of robot. The snake was robust and could perform in rocky terrains. Complete software architecture was built on ROS.
Successfully applied different gaits like sidewinding, rolling, corkscrew motion, lateral undulation, tree climbing. Report
A GUI (Graphical User Interface) was built to control speed and several gaits of the snake robot.

Project Report

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