Chang-bae Moon

About

Chang-bae Moon is a robotics researcher whose work spans mobile robot navigation, motion planning, and human-robot interaction. With a career built on solving real-world challenges in autonomous systems, Moon has made particularly influential contributions to trajectory generation and human detection technologies for mobile robots. His most celebrated work, the Dual-Tree Rapidly Exploring Random Tree (DT-RRT) algorithm (2014, 149 citations), introduced a landmark kinodynamic planning framework enabling high-speed, constraint-aware navigation for two-wheeled differential drive robots — a foundational contribution to the motion planning community. Equally impactful is his research on human leg detection and following using a single laser range finder (2011, 131 citations), which advanced the practicality of socially aware robots in real-world settings such as airports and shopping environments. Moon's broader portfolio reflects a consistent interest in robust mobile robot systems, encompassing localization, graph-based SLAM, sensor modeling, and cable-driven parallel robots with neural network-based tension estimation. His work on Generalized Stochastic Petri Nets for navigation behavior selection further demonstrates his interdisciplinary approach to dependable robot autonomy. Together, his publications have accumulated over 350 citations, establishing him as a meaningful contributor to applied mobile robotics research.

Research Focus

Key Achievements

Top Papers

1. 1
   Kinodynamic Planner Dual-Tree RRT (DT-RRT) for Two-Wheeled Mobile Robots Using the Rapidly Exploring Random Tree

   149 citations · 2014
2. 2
   The Detection and Following of Human Legs Through Inductive Approaches for a Mobile Robot With a Single Laser Range Finder

   131 citations · 2011
3. 3
   Indirect Force Control of a Cable-Driven Parallel Robot: Tension Estimation using Artificial Neural Network trained by Force Sensor Measurements

   36 citations · 2019
4. 4
   Human Target Tracking using a 3D Laser Range Finder based on SJPDAF by Filtering the Laser Scanned Point Clouds

   12 citations · 2020
5. 5
   Design of navigation behaviors and the selection framework with Generalized Stochastic Petri Nets toward dependable navigation of a mobile robot

   7 citations · 2010
6. 6
   Safe navigation of a mobile robot using the visibility information

   5 citations · 2007
7. 7
   Development of a Practical ICP Outlier Rejection Scheme for Graph-based SLAM Using a Laser Range Finder

   4 citations · 2019
8. 8
   Design of a sensor model and semi-global localization of a mobile service robot

   4 citations · 2006
9. 9
   Trajectory planning for mobile robot with kinodynamic constraints

   3 citations · 2017
10. 10
    Design of Experimental Test Tracks for Odometry Calibration of Wheeled Mobile Robots

    2 citations · 2014

Key Collaborators

Contact & Links