公开(公告)号：US11841706B2

公开(公告)日：2023-12-12

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: G01S17/89 ,  G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0212 ,  G01S17/89 ,  G05D1/0088 ,  G05D1/0238 ,  G05D2201/0201

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.