Method and apparatus with navigation path generation

A mobile computing apparatus, comprising:

• one or more processors configured to:
• map a set global path, which connects a current position of the mobile computing apparatus with a future destination of the mobile computing apparatus based on a topology map, to a real-time generated occupancy grid map that represents, based on sensor data of a surrounding environment of the mobile computing apparatus, an un-drivable area and a drivable area in the surrounding environment;
• and
• generate a local path, for a traveling of the mobile computing apparatus, connecting the current position with a sub-waypoint that corresponds to the drivable area in response to a next waypoint, to which the mobile computing apparatus is set to travel based on the global path, being determined to correspond to the un-drivable area.

A processor-implemented method of a mobile computing apparatus, the method comprising:

• mapping a set global path, which connects a current position of the mobile computing apparatus with a future destination of the mobile computing apparatus based on a topology map, to a real-time generated occupancy grid map that represents, based on sensor data of a surrounding environment of the mobile computing apparatus, an un-drivable area and a drivable area in the surrounding environment;
• and
• generating a local path, for a traveling of the mobile computing apparatus, connecting the current position with a sub-waypoint that corresponds to the drivable area in response to a next waypoint, to which the mobile computing apparatus is set to travel based on the global path, being determined to correspond to the un-drivable area,
• wherein the topology map is based on mapping information generated external of the mobile computing apparatus.