Design of UAV Obstacle Avoidance Navigation Based on LiDAR Cartographer Mapping

During the target tracking process, UAVs may encounter obstacles or obstructions. In order to achieve better tracking results, UAVs are required to have the ability to avoid obstacles and independently plan routes during target tracking. In this study, in the case of weak indoor satellite signals, a camera was used for visual positioning and height determination, and a LiDAR fused camera vision was used to map the surrounding environment. The relative distance and angle of obstacles were calculated, and then the autonomous obstacle avoidance navigation of the drone was completed based on path planning algorithms.