A DRONE SYSTEM FOR AUTONOMOUS MAPPING FLIGHTS INSIDE A FOREST – A FEASIBILITY STUDY AND FIRST RESULTS

Abstract. In recent years, drones have gained wide popularity in forest research and operational applications. Over the forest canopy, where Global Navigation Satellite Systems (GNSS) are available, the flights are already highly automated. However, under the canopy of dense forests, the flights still need active manual control by a human pilot due to missing GNSS signal and obstacles. The objective of this study was to design and implement a prototype of a drone autonomously flying inside a forest for future boreal forest research purposes by utilizing open-source algorithms. Based on a literature survey, EGO-Planner-v2 with VINS-Fusion localization and stereo-depth camera-based mapping was chosen as the base of the implemented prototype. The algorithms were first tested in a simulator and later a custom drone hardware was built to evaluate the performance and suitability in real boreal forest environments. The evaluation criteria for the performance were the success of the mission, the reliability of the obstacle avoidance, and the accuracy of the localization. Based on the results, the performance of the prototype was promising, but in dense forests, the sensing of small needleless branches and leafless understory vegetation needs to be improved to increase reliability. In a dense spruce forest, nine of 19 test flights were successful, when approximate flight distances varied between 35 m and 80 m. In the longest of those test flights, the error of the VINS-Fusion estimate of the trajectory length was approximately 1 m.