Wheeled Robot

This project focuses on the modeling and control of wheeled robots, including three sub-projects I have completed at different times. They are autonomous taxiing of aircraft on the runway, crawler chassis locomotion for excavators, and a robotic guide dog for vision impaired people.

This project involves a wide range of technologies. My research and works on this has three directions, excavator arm motion planning, trajectory optimization, and control, crawler excavator base motion planning and control, and task-level planning involving decision-making.