Robotics · autonomous navigation & LiDAR-inertial SLAM机器人 · 自主导航与激光惯性 SLAM
B.Eng. Network Engineering · University of Science and Technology Liaoning网络工程（本科）· 辽宁科技大学
I'm an undergraduate at the University of Science and Technology Liaoning, focused on autonomous navigation for mobile robots — LiDAR-inertial odometry, traversability mapping, and motion planning on unstructured terrain. I architected my RoboMaster team's full navigation-and-decision stack and deployed it in competition, and I've interned on quadruped and delivery-robot autonomy at Glodon and Heshi Robotics. I also contribute to open-source SLAM tooling such as KISS-ICP and FreeDOM. 辽宁科技大学网络工程本科在读，专注移动机器人的自主导航——激光惯性里程计、可通行性建图，以及非结构化地形下的运动规划。独立架构了战队完整的 RoboMaster 导航与决策系统并在赛场实战部署；曾在广联达·机器狗孵化部、上海合时科技从事四足与配送机器人自主导航实习；同时为 KISS-ICP、FreeDOM 等开源 SLAM 项目贡献代码。
Quadruped motion planning on 2.5D unstructured terrain (TRG-Planner traversability-risk graph); indoor multi-floor stair detection & segmentation (PCT-Planner) for cross-floor autonomy.四足机器人 2.5D 非结构化地形运动规划（基于 TRG-Planner 遍历风险图）；室内多楼层楼梯检测与分割（PCT-Planner），支撑机器人自主跨楼层上下楼。
Led a campus delivery robot's full ROS 1 → ROS 2 migration; KISS-ICP + small_gicp localization and FAST-LIO2 large-scale mapping; led EGO-Planner full-3D planning for an earthquake search-and-rescue robot.带队完成园区配送机器人 ROS 1 → ROS 2 全栈升级，KISS-ICP 配合 small_gicp 定位、FAST-LIO2 大范围室外建图；主导地震搜救机器人的 EGO-Planner 三维规划与实机落地。
A complete navigation + decision stack I built solo for RoboMaster, deployed in league and super-tournament matches. FAST-LIO2 + small_gicp localization at 20–30 Hz on low-power hardware; Patchwork++ ground segmentation feeding a 0.04 m spatio-temporal voxel costmap; Hybrid-A* global search with a 2000×56 MPPI local controller; behavior tree + FSM for autonomous strategy switching.为 RoboMaster 系列赛独立开发的完整导航与决策系统，已在联盟赛、超级对抗赛实战部署。FAST-LIO2 配合 small_gicp 在低算力平台实现 20–30 Hz 定位；Patchwork++ 地面分割构建 0.04 m 时空体素成本地图；Hybrid-A* 全局搜索 + 2000×56 步 MPPI 局部控制；行为树与有限状态机实现多策略自主切换。
A stair-detection pipeline over indoor multi-floor point clouds: PCT-Planner traversability analysis extracts walkable structure; z-histogram peaks + RANSAC isolate per-floor ground; PCA and step-profile analysis separate stairs from ramps and segment flights/landings into structured turn types (straight / L / U).面向室内多楼层全局点云的楼梯检测流程：以 PCT-Planner 可通行性分析抽取可通行结构；z 轴高度直方图峰值 + RANSAC 逐层提取主地面；再用 PCA 主方向与踏步分析区分楼梯/坡道，并把 flight/landing 分段为结构化转向类型（直行 / 左右转 / U 型）。
Full-3D navigation for a tracked robot in unstructured, collapsed terrain. EGO-Planner gradient-trajectory optimization with PCT-Planner replaces 2D grid navigation; a prior-free exploration mode uses FAST-LIO2 real-time mapping to auto-generate the next-best exploration goal. Deployed closed-loop on hardware.面向地震坍塌等非结构化地形的履带机器人全三维导航系统。EGO-Planner 梯度轨迹优化配合 PCT-Planner 取代传统 2D 栅格导航；无先验地图自主探索模式借助 FAST-LIO2 实时建图自动生成下一最优探索目标，已在实机完成闭环部署。
Added a /kiss/reset service that resets odometry pose, local map, and adaptive threshold in one call; merged after review by 3 maintainers.新增 /kiss/reset 服务，一键重置里程计位姿、局部地图与自适应阈值；经 3 位维护者审核后合并。 PR #479
Ported to Ubuntu 24.04 + ROS 2 Jazzy; part of 5 merged PRs across 14 repos including MIT-SPARK, hku-mars, and Livox-SDK.移植至 Ubuntu 24.04 + ROS 2 Jazzy；累计在 14 个仓库提交 20 个 PR、合并 5 个，涉及 MIT-SPARK、hku-mars、Livox-SDK 等。 PR #3