Robotic Software Architecture (COMP3431)
Autonomous navigation stack for TurtleBot3 using SLAM, sensor fusion, and custom control nodes.
Robotics Engineer
2023
ROS2-Based Navigation Stack
I designed the full ROS2 architecture, including custom nodes for control, perception, and mapping. The robot used SLAM to build dynamic maps of indoor environments, while a wall-following node allowed it to navigate safely through corridors and tight spaces.
Sensor Fusion: Camera + LiDAR
I implemented a real-time object detection pipeline by combining LiDAR range data with camera-based vision. Using OpenCV, the robot annotated detected objects on the map and reacted to them in real time, enhancing environmental awareness and navigation accuracy.
"This project deepened my understanding of robotics architecture, ROS2 communication patterns, and sensor-driven autonomy."