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METHOD AND APPARATUS FOR AUTONOMOUS DRIVING OF MOBILE ROBOT IN ORCHARD ENVIRONMENT
METHOD AND APPARATUS FOR AUTONOMOUS DRIVING OF MOBILE ROBOT IN ORCHARD ENVIRONMENT
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机译:果园环境中移动机器人自主驾驶的方法和装置
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摘要
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.
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