Autonomous Vehicle
Overview：
Built a mobile robot system that combined onboard autonomy, real-time sensing, and a web-based operator interface. The robot used a dual-ESP32 architecture to separate low-level execution from high-level decision-making, enabling wall-following, Vive-based navigation, path planning, and live debugging in the field.
My Role：
I designed and integrated the sensing and control architecture, helped implement autonomous behaviors and navigation modes, and built web-based control/debugging workflows. I also iterated the mechanical and electrical integration through field testing, tuning ToF sensing, wall-following, and navigation parameters to improve reliability.
System Architecture
The system architecture is built around a dual ESP32-S3 controller setup that integrates ToF sensing, Vive-based localization, web-based control, and autonomous motion control. Sensor data, health monitoring, and communication modules feed into the main control system, which coordinates navigation, wall-following, and attack behaviors. A closed-loop PID wheel control system with encoder feedback enables stable motion execution and real-time autonomous response.
Key Capabilities
The robot integrates browser-based control and debugging with live telemetry and runtime tuning, while using three ToF sensors for wall-following, obstacle detection, and recovery behaviors. Dual Vive trackers provide global pose estimation and waypoint navigation, supporting boundary-aware path planning and autonomous route execution. A servo-actuated attack mechanism enables both autonomous and manual interaction modes.
Iteration
The vehicle evolved from a 3-wheel manual prototype into a 4-wheel autonomous platform.
The structure also grew from a single-layer chassis to a three-layer system, which created more space for wiring, sensors, and control modules while improving overall stability.
Control Center Interface
Developed a web-based control system for real-time vehicle operation, debugging, and parameter tuning.
The interface supports manual control, autonomous mode switching, live telemetry, path planning, system health monitoring, and emergency stop functions.
