公开(公告)号：US20240310846A1

公开(公告)日：2024-09-19

申请号：US18603687

申请日：2024-03-13

Applicant: Electronics and Telecommunications Research Institute

Inventor： Seohyun Jeon ,  SeungHwan Park ,  Jae-Yeong Lee ,  Seung-lk Lee ,  Jae Ho Lim ,  Seung Min Choi

IPC: G05D1/229 ,  G05D1/246

CPC classification number: G05D1/229 ,  G05D1/2464 ,  G05D1/2469

Abstract: A method and apparatus of generating a path for autonomous navigation of a mobile computing apparatus is provided. The mobile computing apparatus includes one or more processors configured to map a set global path, which connects a current position of the mobile computing apparatus with a future destination of the mobile computing apparatus based on a topology map, to a real-time generated occupancy grid map that represents, based on sensor data of a surrounding environment of the mobile computing apparatus, an un-drivable area and a drivable area in the surrounding environment, and generate a local path, for a traveling of the mobile computing apparatus, connecting the current position with a sub-waypoint that corresponds to the drivable area in response to a next waypoint, to which the mobile computing apparatus is set to travel based on the global path, being determined to correspond to the un-drivable area.