Mushr Autonomous Vehicle

 The Mushr project involved transforming a standard remote-controlled car by equipping it with a specialized board and necessary sensors to enable autonomous driving. Our team was tasked with developing the software to autonomously pilot the vehicle. This intricate process involved several key phases: firstly, implementing localization techniques to accurately determine the vehicle's position; secondly, developing control algorithms for precise movement management; thirdly, creating navigation plans for obstacle avoidance; and fourthly, conducting extensive tests in a simulated environment to ensure functionality and reliability. The culmination of our efforts was the real-world application, where the vehicle successfully navigated through a building with various obstacles, demonstrating the effectiveness of our software solutions. 

Link to full repository

Below is a paper presented in the class that explains and analyzes a study perform by some of the UW tenured professors.

My role:

In the Mushr autonomous vehicle project, I served as the lead localization developer, responsible for spearheading the development of precise localization techniques that enabled the car to accurately determine its position within its environment. I contributed as a general developer across all other phases of the project, including control algorithms, planning strategies, simulation testing, and the final implementation of driving the vehicle autonomously through real-world obstacles. My role was integral to ensuring the project's success across its multiple, complex stages.