Mobile Welding Robot
I am part of a team that is working on a building robot designed to autonomously travel through small manholes or high walls in order to access enclosed double hull compartments of a ship and perform welding repairs. My main role is designing and implementing the software for the Welding Robot utilizing ROS framework.
I assisted in building the simulation model. I worked on making sure the URDF file to ensure that the values to ensure that the Welding Robot produced realistic motions when travelling through the double hull and implementing the software needed to get data from the virtual lidar and laser scanner within the simulated environment.
I used the ROS navigation stack to implement a SLAM algorithm that uses AMCL allowing the welding robot to build a 2-D map of its simulated environment and localize itself using said map.
I worked with two others on my team to develop path-planning software for the welding robot to detect the walls and gaps inside the hull with its scanner and plan a welding path from the information.
I also worked on designing, implementing, and testing path-planning software for autonomous movement. I developed software that allowed the robot create a path to a desired destination inside both simulated and real life environments using a 3D map it created with its lidar and arrive at said location by maneuvering and climbing over obstacles.
