Method and control device for generating avoidance paths based on multi-sensor fusion using monitoring infrastructure

Avoidance Path Generation Method and Control Device Based on Multi-Sensor Fusion Using Control Infrastructure

This technology synchronizes and fuses data from fixed sensors installed in control infrastructure with onboard sensor data from Autonomous Mobile Robots (AMRs) based on a spatio-temporal grid. By doing so, it detects hazards in the robot's blind spots and generates avoidance paths.

AMRs often face collision risks because their onboard sensors have limitations, making it difficult to detect objects located behind obstacles or within blind spots in advance.

This technology establishes a path-generation control system that receives data from control infrastructure sensors (cameras, LiDAR, etc.) and the robot's own sensors, synchronizes them with the robot's location, and fuses them using a grid fusion method to avoid paths containing hazards. Applicable to logistics transport, service robots, and autonomous driving platforms, it prevents collisions with obstacles in blind spots and enhances the ability of mobile objects to actively manage objects in their path, thereby improving safety and efficiency across various fields.

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Key Features:

• The control device receives second sensing data regarding the surrounding area from a mobile object moving along a set path.
• The control device uses the fused data to determine whether there are any hazards in the area where the mobile object is intended to move.
• The control device receives first sensing data regarding a region of interest from sensors within the control infrastructure.
• If a specific object is present in the region of interest that includes the mobile object's path—based on at least one of the first or second sensing data—the control device fuses the first and second sensing data to generate fused data.

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This invention was developed with support from the Ministry of Science and ICT for the development of autonomous avoidance driving technology for the pre-recognition and protection of traffic objects through infrastructure linkage.