Converting a 2D Scanning LiDAR to a 3D System for Use on Quad-Rotor UAVs in Autonomous Navigation

Matthew A. Cooper


A main concern with adding sensors is the increase in energy consumption and weight, with a corresponding decrease inflight time, for each additional sensor. This research proposes equipping an existing 2D LiDAR sensor with a reflective super-structure to deflect the projected beam pattern to other areas of interest, thereby converting it into a 3D system, and reducing the need for additional sensors in autonomous UAV applications. This research proposes an externally mounted lightweight reflective structure which eliminates the need for additional moving parts, such as actuators for sensor re-orientation, that have a much higher failure rate than a solid rigid parts.