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LIDAR only autonomous flight
Xu Liu edited this page Feb 23, 2022
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Our code stack also supports LIDAR-only sensing mode (i.e. no camera is needed).
This feature is still under development. It works but is not as robust / well tuned.
The LIDAR will be used for both odometry and mapping (obstacle avoidance). We have done some initial tests for autonomous flight with LLOL: Low-Latency Odometry for Spinning Lidars. Currently, we're using the feature/lidar-odom branch for developing this feature:
https://github.com/KumarRobotics/kr_autonomous_flight/tree/feature/lidar-odom
- Build and Install:
- Simulation Experiments:
- Real-world Experiments:
- Hardware requirements
- Install real robot code stack
- Safety protocol & preflight check
- Launch experiment and gain tuning
- Supported features:
- Integrate (semantic) SLAM for drift correction
- LIDAR-only autonomous flight
- Full coverage experiments
- Customize configurations: