Lidar-based SLAM and autonomous navigation for forestry quadrotors

Abstract

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 the SPA method and the LM algorithm are used to make the map constructed in practical application with good accuracy and closed-loop characteristics. The RRT* algorithm is used to acquire the sub-optimal path further. The results show that the system can accomplish the task well in the presence of a large number of tree obstacles and has lower computational complexity.