Apparatus and method for controlling rail boarding for autonomous driving of a mobile robot

A method of controlling rail boarding for autonomous driving of a mobile robot executed by a computer including at least one processor and memory having instructions stored thereon, which, when executed by the at least one processor, cause the at least one processor to control the rail boarding of the mobile robot, the method comprising:

• acquiring sensing information for recognizing a surrounding environment of the mobile robot using a sensor;
• detecting boarding target rails of the mobile robot from the sensing information through training of a rail image;
• setting line information in the detected rails;
• setting an entry line from the line information and converting the entry line, which is set in a sensor coordinate system, into a robot (real) coordinate system;
• setting an entry point for moving to the entry line;
• generating driving information for movement within the set entry point and entry line;
• determining whether the mobile robot exists on the entry line according to the movement of the mobile robot;
• and
• driving the mobile robot to move on the entry line when the mobile robot exists on the entry line,
• wherein the line information includes first and second line information on first and second lines corresponding to the detected rails, respectively, wherein the at least one a processor generates only one of the first and second line information.