大規模トンネルにおけるFLISPを用いた空中・地上協調：高速LiDAR-IMU同期経路プランナー
Large-Scale Tunnel Air-Ground Collaboration With FLISP: Fast LiDAR-IMU Synchronized Path Planner
水力発電トンネル点検のための、UGVとUAVの協調による地図不要の経路計画フレームワークFLISPを提案。単一のLiDAR-IMUセンサーで両機の経路を同期生成し、従来法より高速で高成功率を実現した。
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1. どんなもの？
2. 先行研究と比べてどこがすごい？
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著者: Fenghe Guo, Runjie Shen, Chenyang Sun, Junrui Zhang, Quanxi Zhan, Yongchun Wang, Junjie Zhang
分類: cs.RO
原文アブストラクト
Hydropower tunnel inspection is critical for infrastructure integrity yet remains inefficient and hazardous using manual methods. We propose FLISP (Fast LiDAR-IMU Synchronized Path Planner), a mapless planning framework for cooperative UGV-UAV inspection. Unlike traditional map-based paradigms, FLISP features three core contributions: (1) a unified architecture where a single UGV-mounted LiDAR-IMU suite drives synchronized path generation for both platforms; (2) platform-specific solvers utilizing an enhanced Firefly Algorithm for UGV obstacle avoidance and a dynamic iterative optimizer for UAV flight; and (3) a hierarchical refinement strategy ensuring kinematic feasibility without state estimation drift. Benchmarks in a 1.2 km operational tunnel demonstrate that FLISP circumvents structural bottlenecks of map-based methods, eliminating map rasterization overhead (Fast-LIO2 + A*) and sampling instability (LIO-SAM + RRT*). FLISP achieves a 100% success rate with 7 ms latency, representing a 7-fold speedup over grid-based and a three-order-of-magnitude improvement over sampling-based baselines. Validated in operational hydropower tunnels, this approach offers a scalable solution for robotic inspection in feature-degraded linear infrastructure. A demonstration video is available at https://youtu.be/Y_ezs1PfLJ4, and the code at https://github.com/ArchibaldGuo/FLISP.git.
