On-Campus Autonomous Mobile Robot Systems

Wheelchair-based LiDAR mapping and on-campus autonomous mobile robot driving test — Wheelchair-mounted LiDAR mapping run used to build the campus navigation map.

Ranger Mini v2 autonomous indoor navigation test in a campus hallway — Ranger Mini v2 autonomous indoor navigation test.

Outdoor building-to-building autonomous navigation test with the campus AMR platform — Outdoor building-to-building autonomous navigation segment from the project presentation.

Autoware and LiDAR map screen recording for an indoor-to-outdoor-to-indoor campus autonomous navigation run — Autoware/LiDAR screen recording from an indoor-to-outdoor-to-indoor campus navigation run.

Ranger Mini v2 robot driving from indoors to outdoors and into another campus building — Robot-view clip from the same building-to-building navigation run.

I built Ranger Mini v2 AMR and 1/5-scale autonomous-vehicle test setups for indoor delivery and perception/navigation practice. The work integrated ROS/Autoware, LiDAR-only mapping, DBSCAN/Kalman-filter tracking, YOLO-based avoidance tests, and campus-scale driving experiments for AMR/autonomous-vehicle systems.

Role: platform bring-up, CAN/ROS/Autoware integration, LiDAR perception, navigation testing, small-platform setup
Tools: ROS2, ROS, Autoware, CAN, LiDAR mapping, DBSCAN, Kalman filtering, object detection/tracking
Result: Grand Prize, 2023 Korea University Project Semester; this work also supported the Electronics (2025) indoor delivery path-planning paper and the Sensors (2025) human-shared collision-detection paper.
Related papers: Efficient Graph-Based Multi-Story Path Planning with Optimized Elevator Selection for Indoor Delivery Robots; Time-Interval-Based Collision Detection for 4WIS Mobile Robots in Human-Shared Indoor Environments.

Additional platform and mapping views

Ranger Mini v2 mobile robot platform with Velodyne LiDAR and onboard sensors — Ranger Mini v2 platform with LiDAR and onboard sensing hardware.

LiDAR point-cloud map and waypoint editing for on-campus mobile robot navigation — LiDAR-only mapping and waypoint editing for campus navigation tests.

LiDAR-equipped campus mobile robot platform during outdoor mapping and navigation testing — LiDAR-equipped campus mobile robot platform used for outdoor mapping and navigation tests.