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

An apparatus for recognition a position and generating a path for autonomous driving of a mobile robot in an orchard environment, comprising

• an interface device configured to receive input of three-dimensional (3D) point cloud data for the orchard environment;
• and
• a processor configured to recognize a position of the mobile robot and generate a path based on the 3D point cloud data,
• wherein the processor is configured to perform the following operations:
• converting the 3D point cloud data for the orchard environment into a two-dimensional (2D) grid map;
• obtaining a position of the mobile robot by performing local scan matching and global scan matching on the 2D grid map;
• extracting a tree from the 2D grid map based on occupancy of each grid of the 2D grid map;
• obtaining an effective line based on center points of extracted trees;
• and
• generating a destination based on the obtained effective line, and generating a driving path according to the generated destination and the position of the mobile robot.