Mohamed Naveed Gul Mohamed

Autonomous Pallet Jack

Developed the entire navigation stack for CAN communication, path planning, estimation, and control in ROS
Evaluated path tracking controllers, namely, MPC, Pure-Pursuit, and PID, and achieved < 6 cm tracking error
Assisted in the development of a robust localization framework using structural features in the environment that can achieve better estimates than the state-of-the-art indoor localization frameworks
Designed and programmed the embedded hardware to command the vehicle's motion using Arduino, filtering circuits using op-amps and relays

Hardware: IMU, Intel RealSense stereo camera, Velodyne LiDAR, Motion Capture System, Arduino, Kvaser CAN interface

Software: ROS, Python, CasADi (nonlinear optimization library), Arduino IDE

Integrated ROS packages for object recognition, pose estimation, SLAM, and path planning for a KUKA youBot
Developed custom packages for trajectory generation and inverse kinematics for the 5 DOF robotic arm

Autonomous mobile manipulation.mp4

Hardware: Kuka youBot, 2D LiDAR, RGB-D camera, IMU

Software: Linux, C++, Python, Eigen, ROS, Gazebo, OpenCV

Designed and fabricated four omnidirectional robots from ground up with the necessary mechanisms for shooting and dribbling
Engineered a robust chassis featuring omnidirectional wheels to optimize maneuverability
Orchestrated the selection of motors, sensors, and microcontrollers, ensuring seamless integration
Implemented algorithms for vision-based localization, A* path planning, and PID feedback control for precise path tracking

Hardware: Monocular camera, Arduino, DC motors, Wi-Fi module

Software: Linux, Embedded C, ROS, Python, OpenCV, SolidWorks

Designed and developed the hexapod from the ground up and meticulously selected and fabricated every component in the system. From sourcing materials for the chassis and legs to handpicking electronic motor drivers, high-torque motors, Li-Po batteries, and microcontrollers, contributed to every aspect of the project
Implemented the sensing and feedback control systems for coordinating the motion of the legs to achieve appropriate gait
Played a key role in refining the sound source localization algorithm

Hardware: Arduino, DC motors, Motor drivers, Bluetooth module, Li-Po battery, Microphones

Software: Embedded C, Interrupts, Pulse Width Modulation, Analog to Digital conversion, I2C communication, UART, SolidWorks