Driven by vision. Defined by persistence.
B.S. in Automotive EngineeringKookmin University, Senior
From global route finding to local trajectory optimization — generating safe, smooth, and dynamically feasible paths that account for obstacles, road geometry, and traffic rules.
A*-based search on a precomputed road network graph generates the high-level route from start to goal. Waypoints are extracted and smoothed using cubic spline interpolation to create a drivable reference path for the local planner.
RRT*-based sampling generates candidate trajectories that respect vehicle kinematics and avoid detected obstacles. Trajectories are scored by a cost function balancing safety margin, path smoothness, and deviation from the global reference path.
A behavior tree architecture handles high-level driving decisions — lane following, lane changing, intersection handling, and emergency stops. The behavior layer sits between perception and planning, translating environmental context into planning objectives.