Mobile robotics
Chassis control, odometry fusion, SLAM mapping, AMCL localization and NAV2 path planning for a four-wheel Mecanum AMR.
AMR · Mecanum · NAV2 · AMCLABOUT TUNG CHIA-HUI
About me and this website
I am Tung Chia-hui. My current interests are SLAM, ROS2 autonomous navigation, 3D mapping, robot perception and mobile manipulation, alongside hands-on work with STM32, RTOS, CAN and chassis control.
SLAMMain research and project focus
ROS2Robotics system platform
STM32Embedded control foundation
Next.jsWebsite application framework
FOCUS
Current areas of focus
My focus is building robot systems that work in practice, bringing mapping, navigation, recognition, control and hardware debugging together.
3D mapping and perception
Combining 3D mapping, 2D navigation, LiDAR, IMU, cameras and YOLO detection into a robot system that can be tested on real hardware.
3D Mapping · LiDAR · YOLO · OpenCVRobot arms and manipulation
Learning MoveIt2, robot kinematics and ROS2 control to coordinate mobile bases, robot arms and vision tasks.
MoveIt2 · Kinematics · ROS2 ControlEmbedded systems and real-time control
Building skills in STM32, FreeRTOS, CAN, PID, motor control and sensor debugging so higher-level algorithms work reliably with hardware.
STM32 · FreeRTOS · CAN · PIDPROJECT LINE
Robot projects I want to build next
Four-wheel Mecanum AMR chassis
Implement omnidirectional kinematics, closed-loop chassis control, wheel odometry and IMU and LiDAR integration.
ROS2 navigation and mapping
Build a reusable navigation workflow with SLAM, AMCL, NAV2, TF transforms and RViz2 debugging.
3D mapping and visual recognition
Add 3D point-cloud mapping and YOLO object detection to help the robot recognize objects in its surroundings as it moves.
Robot arm coordination with MoveIt2
Combine a mobile platform, robot arm planning and visual perception into a mobile manipulation system for real tasks.
CONTENT
What you will find here
This is a collection of technical notes, project logs and personal learning records. I focus on engineering practice, documenting problems, configuration, lessons learned and next steps.
CONTACT