Autonomous Helicopter
Robotics & Motion Planning (Capstone)
Year-long ECE496Y1 capstone for the National Research Council of Canada's autonomous-rotorcraft program: a four-person team restoring and extending an autonomous Bell-412 flight stack in high-fidelity simulation. Co-designed and implemented the online path replanner in MATLAB: obstacle avoidance modeled as Dubins-style circular arcs, the intermediate velocities and accelerations derived, and quintic splines stitched into a dynamically feasible trajectory. Also owned environment integration and DevOps across two Linux setups: resolved dependency conflicts, cleaned up the NRC's initial ROS codebase and stood up the shared repo. The team's stack runs from perception to control (OpenCV/YOLO detection, LVI-SAM and OctoMap SLAM, ACADO/qpOASES NMPC) and demonstrated waypoint cruise, obstacle replan and safe landing end to end in a ~25,500 LoC C++ ROS/Gazebo system.
MATLAB, C++17, ROS, OMPL, Gazebo SITL, OpenCV, YOLO, LVI-SAM, OctoMap, ACADO, qpOASES, NMPC, MAVLink, CMake