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About

Jiahui Lin is a robotics researcher whose work focuses on motion planning and pose estimation for autonomous mobile robots, with a particular emphasis on car-like and two-wheel-driven platforms operating in complex, dynamic environments. Lin’s most impactful contribution is the development of a search-based online trajectory planner for car-like robots in highly dynamic settings, which generates smooth, safe, and near-time-optimal trajectories by exploring a state graph built from motion primitives. This work, published in 2021 and cited 13 times, enables fast, real-time planning without sacrificing trajectory quality—a critical advance for autonomous navigation in unpredictable spaces. Lin has also tackled the challenge of robot balance and localization using sensor fusion, proposing a pose balance method for two-wheel-driven robots that fuses dual ultrasonic data to reduce computational load and improve real-time performance. Additionally, Lin developed a monocular target pose estimation system using infrared reflective markers and an infrared-filtered camera, enabling accurate and robust pose tracking for mobile robots. These contributions demonstrate Lin’s strength in bridging theoretical planning algorithms with practical sensor-driven solutions, advancing the reliability and responsiveness of autonomous ground robots.