This is an archival project that implements a lightweight simulation program on the Windows platform, integrating SLAM mapping, pathfinding, and navigation. Users can quickly deploy it with just a few commands, facilitating rapid prototyping, development, and learning.
Author: [StarDust 星辰涵], Beijing University of Posts and Telecommunications (BUPT)
D&B project: autonomous-car-project
JSICWinterHack_Registration/
├── assets/
│ ├── Demonstration_Video.mp4
│ ├── Technical Explanation.pdf
│ └──Demonstration_gif.gif
└── JSICWinterHack/
├── main.py
├── a_star.py
├── icp_matching.py
└── util.py
git clone https://github.com/StarDust-XCHH/JSICWinterHack_Registration.git
cd JSICWinterHack_Registration/JSICWinterHack
python main.pyName: Yuhan Guan
Affiliation: Beijing University of Posts and Telecommunications (BUPT)
Major: Tele
D&B group: 24
Email: [guanyuhan@bupt.edu.cn]
GitHub: https://github.com/StarDust-XCHH
Embedded Systems: STM32 (HAL library), C/C++, UART/I²C/PWM, PID control
Robotics: ROS1 (Navigation Stack, custom nodes), SLAM (hector_slam)
Communication: Bluetooth transparent transmission, custom frame protocol
Tools: STM32CubeMX, Keil MDK, Git, CMake, rviz
June 2025 – October 2025: Solely responsible for full-stack development, including embedded firmware and ROS1 navigation stack. Implemented lidar-only SLAM using RPLIDAR C1 and IMU data; customized the local planner in move_base for high-speed go-and-return navigation. Designed a Bluetooth-based transparent communication architecture between STM32 and ROS host for sensor streaming and velocity command transmission.