Welcome to my F1TENTH Labs repository.
This repository contains my ROS2-based projects developed throughout the F1TENTH autonomous racing course.
Each module documents my progress through the labs and focuses on building an intuitive understanding of the underlying algorithms before implementing them from scratch.
Current implementations are written in Python 🐍, with plans to later reimplement the full stack in C++ ⚙️.
Competed in the F1TENTH autonomous racing competition using the AutoDRIVE simulator, qualifying 4th out of 40 international teams and advancing to the finals while representing Heriot-Watt University Dubai.
Developed a ROS2-based autonomous driving stack implementing Follow-the-Wall and Follow-the-Gap navigation algorithms with PID control for real-time steering and obstacle avoidance.
Maintained structured Git-based version control and containerized the development environment using Docker for reproducible deployment workflows.
Following the finals, analyzed system performance limitations and proposed sensor-fusion improvements combining IMU and wheel encoder data to improve localization robustness and state estimation accuracy.