大規模隧道空地協作結合FLISP：快速光達-IMU同步路徑規劃器

摘要

水電隧道檢測對基礎設施完整性至關重要，但傳統人工方法效率低且危險。我們提出FLISP（快速雷射雷達-慣性測量單元同步路徑規劃器），這是一種用於UGV-UAV協同檢測的無地圖規劃框架。不同於傳統基於地圖的範式，FLISP具有三大核心貢獻：（1）統一架構，單一UGV搭載的LiDAR-IMU套件驅動雙平台同步路徑生成；（2）平台專用求解器，採用增強螢火蟲演算法實現UGV避障，並以動態迭代優化器進行UAV飛行規劃；（3）分層優化策略，在無狀態估計漂移前提下確保運動學可行性。在1.2公里運營隧道的基準測試中，FLISP規避了基於地圖方法的結構瓶頸，消除了地圖柵格化開銷（Fast-LIO2 + A*）與採樣不穩定性（LIO-SAM + RRT*）。FLISP以7毫秒延遲實現100%成功率，較基於網格的方法提速7倍，較基於採樣的基線提升三個數量級。經實際運營水電隧道驗證，該方法為特徵退化線性基礎設施中的機器人檢測提供了可擴展解決方案。示範影片請參閱 https://youtu.be/Y_ezs1PfLJ4，程式碼請見 https://github.com/ArchibaldGuo/FLISP.git。

English

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.