ADAS Row Follow Patent

Designed a novel variant of the Stanley steer controller that fused Differential and Integral control.

Automatic Steering Calibration Patent

Solved for steering offset by comparing expected rotational velocity based on steering angle, wheel base, and linear velocity to the rotation velocity output by an Inertial Measurement Unit. I solved for the steering angle offset by minimizing the error between these two measurement sources.

IMU Covariance Estimation Based on Jerk Patent

Automatically inflated acceleration covariance under conditions with excessive jerk which led to improved atitude estimation.

Master’s Thesis: Investigation of Pure Pursuit Controller Performance Using Euler Curves