Tunnel Inspection Demo (Fukushima, December 2024)
- Date: December 2024
- Location: Fukushima Robot Test Field, Japan
- Description: In winter 2024, the CERLAB team ran several demonstrations at the Fukushima Robot Test Field. I was responsible for the dynamic obstacle avoidance parts of the demonstration in a full-scale tunnel, using the LiDAR UAV and the dynamic obstacle detection and tracking module I developed. The UAV used LIO-based positioning and an integrated LiDAR-camera sensor suite for real-time dynamic object detection and tracking, and navigated the tunnel safely in the presence of both static and dynamic obstacles deliberately placed to simulate real-world conditions.
- Role and Contribution:
- Responsible for the dynamic obstacle avoidance parts of the Winter 2024 Fukushima demonstration.
- Developed the dynamic obstacle detection and tracking module.
- Implemented dynamic removal to assist building the global occupancy map.
- Validated in the tunnel with static and dynamic obstacles.
- Demo Video:Google Drive
Tech Stack
Hardware
Software
Key Features
Autonomous navigation
Navigates complex environments without GPS, using LiDAR and visual sensors for real-time localisation and mapping.
High odometry frequency
FAST-LIO2 fused with the PX4 IMU raises the odometry rate, giving accurate and stable flight control.
Light-weight design
Optimised for minimal weight, extending flight duration and improving manoeuvrability.
Modular architecture
Hardware and software components can be upgraded or maintained independently.