Portfolio (WIP)

• Cavalier Racing — Indy Autonomous Challenge

  Team Member
  Recently, I wrote code to process LiDAR point clouds of racetracks, to extract surface normals from the roadway surface. (This was neccessary to race at Laguna Seca (first road course), pictured.) Then I extract the norms along planned race-lines, and to load them into a k-d tree, which serves pitch and roll in real time on the car. This allows the gravity component to be accurately subtracted from accelerometer readings, providing better inputs to the localization EKF.
  
  I also recently wrote code to live-compare the expected/optimal with actual time for each turn, to help identify which areas to investigate after the run.
  
  Current Project: The problem is that the vehicle follows a pre-computed race-line, and we modify speed during testing by scaling or setting a maximum speed. However, we want to test by setting maximum (lateral and longitudinal) tire forces. My project is to compute optimal trajectories and velocity profiles constrained by tire-force limitations, on demand.