System Implementation

Wheelchair Autonomy

• Decomposed AirLab’s autonomy stack to customize it for the wheelchair’s specific hardware setup.
• Successfully launched sensor bring-up and control modules to establish basic mobility.
• Ran perception and mapping modules inside Docker containers to ensure modular software development.
• Executed planning and control modules in Docker while adapting them to operate without RTK-GPS.
• Modified sensor launch parameters and planning/mapping modules to align with the wheelchair’s configuration.
• Adjusted hardcoded navigation waypoints, replacing them with dynamically defined simple waypoints.

Isaac Sim

Wheeled Robot Basic Setup

• Integrated Isaac Sim with ROS for virtual testing and simulation.
• Configured a wheeled robot model for teleoperation testing.
• Successfully teleoperated the wheelchair model in simulation, ensuring smooth motion and sensor feedback.