Localisation algorithm for Quadruped robot

This project aims to develop a mobile robot which can autonomously explore indoor environment, build corresponding map and navigate in the map.

In this project, my responsibilies include:

• Responsible for 3D Lidar-based localization algorithm for Quadruped robot.
• Developed real-time multi-sensor fusion algorithm for stage performances. Including Lidar and IMU.
• Accomplished offline map building algorithm to construct the environment.
• Implemented the synchronization of dance command and localization function.
• Took part in the UWB-based localization algorithm and completed fusing UWB and IMU.