Shadow Sense Project

1. 负责扫地机器人决策规划算法的开发：独立设计新的有限状态机，实现新的清扫规划行为。实现先区域清扫后沿边界清扫的行为, 沿障碍物清扫的行为, 不碰撞障碍物的连续清扫行为。2. 参与超声波减速功能的开发：用超声波传感器建图，基于地图实现扫地机器人减速功能。3. 参与2020年中国高新技术成果交易会的布展。

1. Used PCL to process point cloud: I used Realsense camera to obtain point cloud from the environment. Then, I used PCL to segment point cloud belongs to the floor and cluster obstacles on the floor.2. Collision avoidance: I developed a ROS package that process point cloud and convert the point cloud data to laser scan format. Based on ROS, I realized real-time collision avoidance.

Utilized ANSYS to analyze aerodynamic force and the membrane deformation of the robotConducted the wind tunnel experiment, gained 352 data points, and analyzed results using MATLABCo-published a journal paper as the third author