Method and apparatus for autonomous driving of mobile robot in orchard environment

摘要

A method and apparatus are provided for autonomous driving of a mobile robot in an orchard environment. The method converts 3D point cloud data for the orchard environment into a 2D grid map, obtains the position of the mobile robot based on the 2D grid map, and extracts trees from the 2D grid map based on the occupancy of each grid in the 2D grid map. extract Then, an effective line is obtained based on the center point of the extracted trees, a destination is generated based on the obtained effective line, and a driving route is generated according to the generated destination.