公开(公告)号：US20210278848A1

公开(公告)日：2021-09-09

申请号：US17188688

申请日：2021-03-01

Applicant: Electronics and Telecommunications Research Institute

Inventor： Su Yong AN ,  Hea-Min LEE ,  Dongyeop KANG ,  Wookyong KWON ,  Song LI ,  Ki Young MOON ,  Yun Su CHUNG

IPC: G05D1/02 ,  G05D1/00 ,  G01S17/89

Abstract: A method and an apparatus for recognition a position and generating a path for autonomous driving of a mobile robot in an orchard environment are provided. The method converts three-dimensional (3D) point cloud data for the orchard environment into a 2D grid map, obtains a position of the mobile robot by performing local scan matching and global scan matching on the 2D grid map, and extracts a tree from the 2D grid map based on occupancy of each grid of the 2D grid map. Then, an effective line based on center points of extracted trees is obtained, a destination based on the obtained effective line is generated, and a driving path according to the generated destination and the position of the mobile robot is generated.