| title | Large-Scale Tunnel Air-Ground Collaboration With FLISP: Fast LiDAR-IMU Synchronized Path Planner |
|---|---|
| authors | Fenghe Guo, Runjie Shen, Chenyang Sun, Junrui Zhang, Quanxi Zhan, Yongchun Wang, Junjie Zhang |
| date | 2026-06-25 |
| venue | arXiv (preprint, not peer reviewed) |
| id | arXiv:2606.25393 |
| links | abs pdf hf |
| 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 a 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 https://youtu.be/Y_ezs1PfLJ4, and the code at https://github.com/ArchibaldGuo/FLISP.git. |
cite
@misc{guo2026large,
title={Large-Scale Tunnel Air-Ground Collaboration With FLISP: Fast LiDAR-IMU Synchronized Path Planner},
author={Fenghe Guo and Runjie Shen and Chenyang Sun and Junrui Zhang and Quanxi Zhan and Yongchun Wang and Junjie Zhang},
year={2026},
eprint={2606.25393},
archivePrefix={arXiv},
url={https://arxiv.org/abs/2606.25393}
}