Mobile Robots
Working around a four-wheel mecanum AMR: chassis control, odometry fusion, SLAM mapping, AMCL localization, and NAV2 path planning.
About Tung Chia-hui
About Me and This Site
I am Tung Chia-hui. I currently focus on SLAM, ROS2 autonomous navigation, 3D mapping, robotic perception, and mobile manipulation systems, while continuing to keep close-to-hardware skills such as STM32, RTOS, CAN, and chassis control.
SLAMMain research and project direction
ROS2Robotics system platform
STM32Embedded control foundation
NuxtSite framework
Focus
Current Focus Areas
I want to use runnable robot systems as the main thread: not isolated modules, but mapping, navigation, recognition, control, and hardware debugging connected together.
3D Mapping and Perception
Connecting 3D mapping, 2D navigation, LiDAR, IMU, cameras, and YOLO recognition into a debuggable robotics system.
Manipulators and Operation
Continuing with MoveIt2, robot kinematics, and ROS2 control so mobile bases, manipulators, and vision tasks can work together.
Embedded and Real-Time Control
Deepening STM32, FreeRTOS, CAN, PID, motor control, and sensor debugging so upper-layer algorithms can connect to real hardware.
Project Line
Robotics Projects I Want to Build Next
Four-Wheel Mecanum AMR Chassis
Complete omnidirectional motion solving, closed-loop chassis control, wheel odometry, IMU, and LiDAR integration.
ROS2 Navigation and Mapping System
Build a reusable navigation workflow around SLAM, AMCL, NAV2, TF transforms, and RViz2 debugging.
3D Mapping and Visual Recognition
Introduce 3D point-cloud mapping and YOLO object recognition so the robot can understand objects in its environment.
MoveIt2 Manipulator Integration
Combine the mobile platform, manipulator planning, and visual perception into a task-oriented mobile manipulation system.
Content
What This Website Contains
This is both a technical notebook and a project journal. The content leans toward engineering practice, with pitfalls, configuration, retrospectives, and roadmaps written clearly.
Site
Site Services and Access Routes
This site is a fully static Nuxt site. The goal is to deploy cleanly to Pages platforms, with content and pages mostly prerendered to reduce server dependency.
Mainland China
Tencent Cloud EO Pages / EdgeOne CDN / DNSPodRoute and accelerate static pages for mainland access to reduce cross-region waiting time.
Hong Kong, Macao, Taiwan, and International
Cloudflare Pages / Cloudflare CDN / DNSPodUse Cloudflare static hosting and global CDN to keep overseas access stable.
Object Storage and File Delivery
AList provides file management and an S3-compatible endpoint, while the primary CDN and the Cloudflare R2 backup route handle file delivery.
| Service | Purpose | Domain |
|---|---|---|
| AList WebUI | File browsing, management, and sharing | alist.tungchiahui.cn |
| S3 API | S3-compatible object uploads and management | s3.tungchiahui.cn |
| Primary CDN | Direct links and delivery for the primary bucket | cdn.tungchiahui.cn |
| Global CDN Backup | Global delivery backed up to Cloudflare R2 | global.cdn.tungchiahui.cn |
Contact