论文标题
基于激光雷达的SLAM系统的比较，用于控制无人机
A Comparison of LiDAR-based SLAM Systems for Control of Unmanned Aerial Vehicles
论文作者
论文摘要
本文调查了LIDAR SLAM作为自动飞行的姿势反馈。制图师，壤土和HDL图最初是在概念级别引入的，后来又对此角色进行了测试。首先将它们在一系列数据集上的离线进行比较，以查看它们是否能够在敏捷和远程飞行方案中产生高质量的姿势估计。测试的第二阶段包括将SLAM算法集成到级联PID无人机控制系统中，并在台阶激发信号和螺旋轨迹上比较控制系统的性能。比较基于步骤响应特征和几个时间积分性能以及计划轨迹和执行轨迹之间的RMS误差。
This paper investigates the use of LiDAR SLAM as a pose feedback for autonomous flight. Cartographer, LOAM and HDL graph SLAM are first introduced on a conceptual level and later tested for this role. They are first compared offline on a series of datasets to see if they are capable of producing high-quality pose estimates in agile and long-range flight scenarios. The second stage of testing consists of integrating the SLAM algorithms into a cascade PID UAV control system and comparing the control system performance on step excitation signals and helical trajectories. The comparison is based on step response characteristics and several time integral performancecriteria as well as the RMS error between planned and executed trajectory.
