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Mohd Farhan Haroon's Projects

autonomous-navigation-using-wheel-odometry icon autonomous-navigation-using-wheel-odometry

This repository is the implementation of A-Star path planning algorithm on the 2-D matrix. It is implemented on a ROBOTIS Turtle Bot 3 and is usable by any differential drive robot using ROS NOETIC. This project is developed by Mohd Farhan Haroon, at the Integral Robotics Lab, Integral University, Lucknow. Contact me at [email protected]

autonomous-quadrotors-with-ros icon autonomous-quadrotors-with-ros

This repository contains the code to interface an ArduPilot based Quadrotor with ROS Noetic using the MAVROS package. I have implemented Teleoperation and autonomous traversal in a Cicular trajectory using position feedback from OptiTrack motion capture system.

ball-balancing-platform icon ball-balancing-platform

This project demonstrates the deployment of a Model Predictive Controller to balance a ball rolling on a tiltabel platform. OpenCV is employed to get the postional feedback of the ball from the platform for closed-loop control.

linear-mpc-on-quadrotors icon linear-mpc-on-quadrotors

I demonstrate a methodology to implement Linear MPC on a non-Linear system of Quadrotor. While the underlying non-linear dynamics are encapsulated, the high-level control is employed to achieve a Linear control system to use a Linear MPC controller.

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