MCTS Flight Simulation Research
Working with 6DOF and JSBsim to simulate F16 planes and compare planes running MCTS with planes running a pure pursuit algorithm.
MCTS Flight Simulation Research
Particle Filter Research
Takes a robot odometry measurement as a motion control input and a marker measurement as a sensor input. Took 5000 particles as the filter to try and find the global optimal estimation.
PID Controller Research
Tuning a linear and angular PID controller that is suitable for a robot driving along a thin icy path. I looked into certain parameters and stopping algorithms to prevent a robot from sliding off the icy road.
RRT Planning Simulation
Designing a node generator to navigate a robot through a series of obstacles in real time with RRT. Path smoothing was also made to reduce the number of nodes between the start node and the end node.