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arXiv · 2508.14554

EAROL: Environmental Augmented Perception-Aware Planning and Robust Odometry via Downward-Mounted Tilted LiDAR

Xinkai Liang·Yigu Ge·Yangxi Shi·Haoyu Yang·Xu Cao·Hao Fang
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Abstract

To address the challenges of localization drift and perception-planning coupling in unmanned aerial vehicles (UAVs) operating in open-top scenarios (e.g., collapsed buildings, roofless mazes), this paper proposes EAROL, a novel framework with a downward-mounted tilted LiDAR configuration (20° inclination), integrating a LiDAR-Inertial Odometry (LIO) system and a hierarchical trajectory-yaw optimization algorithm. The hardware innovation enables constraint enhancement via dense ground point cloud acquisition and forward environmental awareness for dynamic obstacle detection. A tightly-coupled LIO system, empowered by an Iterative Error-State Kalman Filter (IESKF) with dynamic motion compensation, achieves high level 6-DoF localization accuracy in feature-sparse environments. The planner, augmented by environment, balancing environmental exploration, target tracking precision, and energy efficiency. Physical experiments demonstrate 81% tracking error reduction, 22% improvement in perceptual coverage, and near-zero vertical drift across indoor maze and 60-meter-scale outdoor scenarios. This work proposes a hardware-algorithm co-design paradigm, offering a robust solution for UAV autonomy in post-disaster search and rescue missions. We will release our software and hardware as an open-source package for the community. Video: https://youtu.be/7av2ueLSiYw.

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Xinkai Liang, Yigu Ge, Yangxi Shi, Haoyu Yang, Xu Cao, Hao Fang. 2025-08-20. EAROL: Environmental Augmented Perception-Aware Planning and Robust Odometry via Downward-Mounted Tilted LiDAR. https://arxiv.org/abs/2508.14554

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