Fig. 2: System overview of our LiDAR-based quadrotor for slope inspection.
From: Slope inspection under dense vegetation using LiDAR-based quadrotors
a The detailed hardware configuration of our LiDAR-based quadrotor. b The localization module employs Fast-LIO2, which utilizes an iterative error state Kalman filter and incremental kd-Tree. c The mapping module constructs a robocentric occupancy grid map, ROG-Map, with improvements tailored for slope environments. d The pilot reference path searching generates a coarse reference path from the pilot’s joystick commands. e Our quadrotor adopts an integrated planning and control framework (IPC), which directly generates control commands (e.g., angular velocity references and throttle) from the coarse reference path by solving a model predictive control (MPC) problem.
