On-Campus Autonomous Mobile Robot Systems

Ranger Mini v2 AMR and 1/5-scale autonomous-vehicle experiments with ROS/Autoware, LiDAR, and camera perception.

Ranger Mini v2 AMR platform for indoor delivery robot integration
Outdoor campus driving clip for the Ranger Mini v2-based AMR
Ranger Mini v2 outdoor campus driving test.
1/5-scale autonomous vehicle platform with LiDAR and ROS visualization
1/5-scale autonomous-vehicle platform for ROS, LiDAR, and camera-perception practice.

I grouped two on-campus mobile-robot platforms here. For the Ranger Mini v2 delivery robot, I integrated CAN, ROS/Autoware, LiDAR-only SLAM, and perception modules for indoor navigation. For the 1/5-scale autonomous-vehicle platform, I worked on ROS-based driving experiments, LiDAR obstacle detection, and camera lane recognition.

  • Role: hardware/software integration, perception, navigation, detection/tracking modules, small-vehicle platform setup
  • Tools: ROS2, ROS, Autoware, CAN, LiDAR SLAM, DBSCAN, Kalman Filter, YOLO, camera vision
  • 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.