Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR
This paper addressed the challenge of exploring large, unknown, deva curl arc angel and unstructured industrial environments with an unmanned aerial vehicle (UAV).The resulting system combined well-known components and techniques with a new manoeuvre to use a low-cost 2D laser to measure a 3D structure.Our approach combined frontier-based explorati