Algorithm Design for Mobile Robot and Robot Arm

EKF + DWA

Particle Filter

Real-time Global Replaning

Bell Ringing for Robot

This project was completed for the “Design and Practice of Robots (2020)” course at Zhejiang University — see the full video playlist.
Using ROS 1 and the Gazebo simulator, I implemented:

1. A* for global navigation
2. DWA for local obstacle avoidance
3. EKF and particle filtering for pose tracking and self‑localization
4. A mixed‑Bayes method for grid‑map construction
5. Real-time gobal path replanning

These modules were integrated into a real‑time global‑replanning framework that enabled a differential‑drive robot to reach arbitrary goals without collisions.

In addition, I developed forward kinematics, inverse kinematics, and trajectory‑planning algorithms for a robotic arm, achieving reliable reciprocating motion between designated targets, which is used for complete a bell‑ringing task on the physical arm for 43 times within 100s.

All algorithms were written in Python and C++.