Depth Camera-LiDAR Fusion Based UAV Autonomous Navigation for Parcel Delivery in Complex Urban Environment

Unmanned aerial vehicle (UAV) delivery in urban environments demonstrates significant growth potential due to its efficiency and eco-friendliness. The challenges of autonomous navigation and obstacle avoidance in complex environments are crucial study aspects of UAV delivery. This paper proposes a depth camera-LiDAR fusion based UAV autonomous navigation protocol, enabling autonomous navigation and obstacle avoidance for UAV parcel delivery in complex urban environments. Experiments are conducted in a highly realistic simulation environment to validate performance of the proposed method. The results indicate that the proposed method can efficiently and accurately achieve autonomous navigation and obstacle avoidance with high robustness.