Woowa Bros. Robot Delivery Challenge

GPS-denied localization with 3D LiDAR + IMU and collision-risk-aware DWA planning using pedestrian motion estimation

Overview

For the Woowa Bros. Robot Delivery Challenge, I focused on reliable navigation in complex environments by stabilizing GPS-denied localization and improving local planning safety with collision-risk-aware DWA. :contentReference[oaicite:29]{index=29}

What I Did

  • GPS-denied localization stabilization
    • Stabilized localization by fusing:
      • 3D LiDAR-based pose (against a prebuilt 3D map)
      • IMU measurements :contentReference[oaicite:30]{index=30}
  • Pedestrian motion estimation and safety-aware planning
    • Estimated pedestrian speed and direction from YOLOv5 + LiDAR data.
    • Integrated collision risk into DWA to achieve safer local path planning. :contentReference[oaicite:31]{index=31}

My Role

  • Implemented the localization fusion approach for GPS-denied operation
  • Built the pedestrian motion feature extraction and risk integration into DWA planning :contentReference[oaicite:32]{index=32}

Tech Stack

  • Localization: 3D LiDAR-based pose on prebuilt 3D map + IMU fusion
  • Perception: YOLOv5 + LiDAR-based pedestrian motion estimation
  • Local Planning: DWA with collision-risk augmentation :contentReference[oaicite:33]{index=33}

Media

Replace placeholders with:

  • localization plot (drift before/after)
  • pedestrian motion vectors overlay
  • DWA trajectory samples with risk scores
Suggested visuals: localization robustness, motion estimation overlays, and safer trajectory selection via risk-aware DWA.

Takeaway

This project demonstrates practical autonomy for real deployment conditions:

  • robust localization when GPS is unreliable
  • safe navigation among pedestrians via risk-aware planning :contentReference[oaicite:34]{index=34}