Abstract: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 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 this https URL, and the code at this https URL.
From: Fenghe Guo [view email]
[v1]
Wed, 24 Jun 2026 04:44:35 UTC (18,901 KB)
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