Lidar-based SLAM and autonomous navigation for forestry quadrotors

• Published in: 2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC) pp. 1 - 6
• Main Authors: Hu, Xuejun, Wang, Meishan, Qian, Chenghao, Huang, Chengjie, Xia, Yu, Song, Ming
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.08.2018
• Subjects: Agriculture; airborne LIDAR; algorithm; Forestry; Heuristic algorithms; Karto Slam; Laser radar; Optimization; Path planning; RRT; Simultaneous localization and mapping

Quadrotor UAVs equipped with lidar have an indispensable role in forestry production. In this paper, an autonomous quadrotor with autonomous guidance and navigation ability is designed. Karto Slam algorithm for forestry quadrotor is utilized to accomplish the mission of situation awareness, in which...