Planning · Control · Field Robotics
Building reliable perception, planning, and control systems for agricultural robots.
I am currently pursuing an integrated M.S.–Ph.D. degree in Convergence Biosystems Engineering at Chonnam National University, South Korea, with a second major in IT–Bio Convergence Systems. My research focuses on autonomous navigation, task planning, path generation, and optimization-based trajectory tracking for agricultural mobile robots.
From robotic platforms, sensor integration, and mapping to global planning, local trajectory optimization, and closed-loop control — I document both the theory and the engineering details that make robots work in the field.
| Area | Focus |
|---|---|
| Autonomous Navigation | Localization, mapping, task planning, and autonomous operation in orchards and farmland |
| Trajectory Optimization | Hybrid A*, B-splines, minimum-jerk objectives, and constrained trajectory generation |
| Optimal Control | NMPC, LMPC, CLF–CBF, and trajectory tracking for mobile robots |
| System Integration | ROS, RTK-GNSS, 3D LiDAR, IMU, and embedded computing platforms |
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An Ackermann and double-Ackermann robot simulation plugin for Flatland, with bicycle-model-based kinematics. ROS · C++ · Simulation
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An outdoor mobile robot simulation environment based on the AgileX Scout 2.0, with IMU, GPS, camera, and LiDAR. Gazebo · ROS · Navigation
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Derivations, implementation notes, and experiments based on the model predictive control examples in PythonRobotics. MPC · Python · Notes
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An offline Windows tool that converts PDFs to editable Word documents and table images to Excel workbooks. Python · OCR · Desktop
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- Ackermann and Double-Ackermann Models: Kinematics and State-Space Formulation
- A Detailed Derivation of MPC-Based Path Tracking
- Understanding Bézier Curves and B-Splines
- CLF–CBF: From Stability to Safety Constraints
