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Yan-Liang Chen
Junior Robotics Systems Engineer specializing in autonomous planning and control
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Robotics software engineer focused on autonomous surface vehicles, specializing in dynamic collision avoidance and regulation-compliant navigation. Extended ROS2 Nav2 by implementing a Velocity-Obstacle-based safety filter (as a DWA critic) and encoding COLREGs, plus built an end-to-end Gazebo+ArduPilot SITL stack and a ROS2 bridge translating Nav2 commands to ArduPilot for real-world deployment.
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Key Strengths
- Improved dynamic obstacle avoidance by augmenting Nav2 DWA with a Velocity Obstacle safety filter
- Balanced safety vs. feasibility using soft-penalty (sigmoid) collision-risk scoring based on time-to-collision and predicted distance
- Regulation-aware autonomy: encoded COLREGs into local planning for compliant maritime behavior
- Strong ROS 2/Nav2 extensibility: implemented custom critic plugin and integrated Hybrid A* + DWA in lifecycle nodes
- System-level debugging of planner-controller interaction (U-turn looping) via coordinated planner constraints and controller path-pruning tuning
- Built realistic Gazebo + ArduPilot SITL environment with sensors and wind/wave effects for end-to-end testing
- Practical deployment focus: Dockerized camera SDK on Raspberry Pi to ensure consistent onboard behavior (BlueOS)
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