2026.02 – 2026.04 · 4C AI Challenge, UAV Track
2026.02 – 2026.04 · 计算机设计大赛 AI 挑战赛 无人机赛道
FireLens / 萤火 — Autonomous SLAM Exploration UAV
萤火 / FireLens — 自主 SLAM 探索无人机
A 3.5-inch ducted whoop equipped with Livox Mid-360 LiDAR and Orange Pi 5 Pro (RK3588) onboard computer, capable of fully autonomous exploration and navigation in unknown indoor environments.
搭载 Livox Mid-360 激光雷达与 Orange Pi 5 Pro (RK3588) 机载计算机的 3.5 英寸涵道无人机， 能够在未知室内环境中完成全自主探索与导航。
Stack: FAST-LIO2 (LiDAR-inertial odometry) → EGO-Planner (gradient-based planning) → Custom frontier exploration FSM → PX4 via MAVROS → YOLO/RKNN perception → Voice command interface (ASR + LLM).
技术栈：FAST-LIO2 激光惯性里程计 → EGO-Planner 梯度规划 → 自研前沿探索状态机 → PX4/MAVROS 控制 → YOLO/RKNN 机载视觉 → 语音指令 (ASR + LLM)。
Key Engineering: Exploration FSM with stuck detection, blacklist and auto-return; real-time map visualization ground station; rescue decision report generation (grid analysis + LLM); full system integration on 3.5-inch ducted platform.
关键工程：带卡困检测与自动返航的探索状态机； 实时地图可视化地面站；救援决策报告自动生成（栅格分析 + LLM）；3.5 英寸涵道平台全系统联调。
Provincial 1st Prize · Advancing to National Finals 省一等奖 · 入围国赛