in Guangzhou","links":[{"icon":"facebook","url":"https://github.com/Yao12345312/Offboard_control.git"},{"icon":"mail","url":"mailto:3214283533@qq.com"},{"icon":"phone","url":"tel:+8618026337907"}],"camera":{"position":[2.4791374682677905,0.888781948085125,1.9352980535711397],"target":[-0.0034949433463102803,0.0018105034753716726,0.0036611345321649526]},"thumbUrl":"https://assets.intro3d.com/thumbs/4HX018ZlNmkxkBSA1hz1D4hjqgWvtrqK/75d87601-a9d3-472c-9662-ac16a71e2ab0.webp"},"loading":{"background":"#202020","text":"Loading…","spinnerStyle":"dots","spinnerColor":"#cbf53d","template":"classic"},"portfolio":{"enabled":true,"template":"gallery-horizontal","title":"Selected Projects","hint":"Continue exploring","bgColor":"#0a0c10","bgOpacity":0.92,"sections":[{"id":"2julj1n","title":"2D SLAM Quadrotor UAV","items":[{"id":"fkajwk0","name":"Autonomous Quadrotor Based on N10P","meta":"National competition project","role":"Project Lead · Control & Vision Integration","link":"https://github.com/Yao12345312/Offboard_control.git","tags":["PX4","ROS2","SLAM","YOLOv5","Embedded AI"],"body":"

Built a low-cost autonomous quadrotor UAV solution around the N10P / PX4 flight-control stack for national robotics competition tasks. I led the control architecture, hierarchical state-machine design, and vision-system integration.

The system deployed Cartographer SLAM on ROS2 with Raspberry Pi 5B and optimized YOLOv5 inference on K230, then connected perception and flight behavior through PX4 Offboard control. Key engineering challenges included SLAM convergence instability, vibration-induced pose drift, and reliable vision-control coupling under indoor task constraints.

Outcome: National Third Prize and Provincial First Prize in the China Robot and Artificial Intelligence Competition, plus Provincial Third Prize in the National Electronic Design Competition.

"}],"tagline":"Low-cost autonomous UAV with PX4, ROS2 SLAM, and onboard vision","awards":["National 3rd Prize","Provincial 1st Prize","Electronic Design Provincial 3rd Prize"],"footer":"PX4 · ROS2 · Cartographer · YOLOv5 · K230 · Raspberry Pi 5B"},{"id":"99ilfom","title":"Amphibious Hexarotor Hovercraft","items":[{"id":"gb38bqk","name":"Variable-Structure Water-Air Amphibious Hovercraft","meta":"Research project","role":"Project Lead · Control Algorithm Innovation","tags":["ADRC","Amphibious Robot","Robust Control","System Integration"],"body":"

Designed a variable-structure hexarotor hovercraft for deep-sea aquaculture inspection, combining aerial mobility with water-surface hovering for autonomous environmental monitoring and intelligent patrol.

I led system-level design and control-algorithm innovation. The work covered corrosion-resistant motor sealing, air-cushion material selection, and dual-mode powertrain design using brushless motors and air-cushion blowers.

On the control side, I optimized thrust-torque balance against hydrodynamic resistance to reduce yaw error under wave disturbance, then introduced Active Disturbance Rejection Control to improve robustness against wind, current, payload shift, and operating-mode transitions.

"}],"tagline":"Variable-structure platform for land-water inspection and robust control research","awards":["Provincial Innovation & Entrepreneurship Training Program"],"footer":"ADRC · System Design · Hydrodynamics · Brushless Drive · Hovercraft Powertrain"},{"id":"qazoraf","title":"Leadership & Core Competence","items":[{"id":"r6ews0f","name":"HAIQUE Autonomous Systems Innovation Team","meta":"Campus leadership & engineering team","role":"Captain · Electronic Control Group Leader","tags":["Leadership","Robotics","Embedded Control","Vision Pipeline","Project Management"],"body":"

As captain of HAIQUE, I coordinate more than 20 members across scheduling, budget allocation, resource planning, technical feasibility reviews, recruitment, branding, and external communication with faculty, sponsors, and industry partners.

I also lead the electronic-control group, contributing STM32 HAL control firmware, Ope