Path Planning of an UAV with the Help of Lidar for Slam Application

Abstract

Today's world there will be always a value for path planning. Be it the use of mobile robots such as UAVs, UGVs, USVs, etc., everything functions based on SLAM input. The input parameter can be extracted by any kind of sensors such as Kinect, LiDAR, etc. Here I am using RPLIDAR(LiDAR) as Sensor for UAV path generation. By getting a single Plan reading from lidar I will generate 3D mapping by a gazebo and visualize it by rviz in ROS. Here we use ROS as an interface of robot and sensor.