The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 12, 2023
Filed:
Mar. 01, 2021
Electronics and Telecommunications Research Institute, Daejeon, KR;
Su Yong An, Daegu, KR;
Hea-Min Lee, Daegu, KR;
Dongyeop Kang, Daegu, KR;
Wookyong Kwon, Daegu, KR;
Song Li, Daegu, KR;
Ki Young Moon, Sejong-si, KR;
Yun Su Chung, Daegu, KR;
Electronics and Telecommunications Research Institute, Daejeon, KR;
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.