LiDAR-SLAM-Based IoT-UAV Platform for Indoor Battery Monitoring

doi:10.22716/sckt.2026.14.3.007

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2026 Vol.14, Issue 3 Preview Page Next Page

Research Article

LiDAR-SLAM-Based IoT-UAV Platform for Indoor Battery Monitoring LiDAR-SLAM 기반 실내 배터리 모니터링 IoT-UAV 플랫폼: Younghoon Lim¹, Juphil-Cho², and Jeonggon-Kim³
임영훈¹, 조주필², 김정곤³; ¹Master’s Student, Department of IT Semiconductor Convergence Engineering, Tech University of Korea
²Professor, Department of IT Convergence and Communication Engineering, Kunsan National University
³Professor, Department of Electronic Engineering, Tech University of Korea

¹한국공학대학교 IT반도체융합공학과 석사과정, ²국립군산대학교 IT융합통신공학과 교수, ³한국공학대학교 전자공학과 교수

30 September 2026. pp. 97-106

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Abstract

본 연구는 실내 배터리 저장시설의 상태 정보를 수집·전송·관리하고 이동형 플랫폼의 실내 위치 정보를 연계하기 위한 LiDAR-SLAM 기반 IoT-UAV 플랫폼을 제안한다. 제안 시스템은 MLX90640 및 MQ-2 센서 노드, LoRa 통신부, SQLite 기반 제어 서버와 F550 UAV의 Cartographer 모듈로 구성하였다. 기능시험 결과, 센서 데이터 취득과 상태 분류, LoRa 메시지 송수신, 데이터 저장·시각화가 순차적으로 동작하였다. 또한 Gazebo와 실제 실내 복도 환경에서 2차원 지도 생성 및 지도 좌표계 내 상대 위치 표시 기능을 확인하였다. 이를 통해 고정형 센서 노드와 이동형 UAV 모듈을 하나의 정보 흐름으로 연계할 수 있는 구성요소 수준의 구현 가능성을 제시하였다. 실제 화재환경에서의 감지 성능과 자율 이동 및 초기 대응을 포함한 폐루프 운용은 후속 검증이 필요하다.

This study proposes a LiDAR-SLAM-based IoT-UAV platform that links condition monitoring in indoor battery storage facilities with indoor localization for a mobile platform. The system consists of a sensing node equipped with an MLX90640 thermal array and an MQ-2 gas sensor, LoRa communication, an SQLite-based control server, and a Cartographer module integrated into an F550 UAV. The sensing node calculates a representative temperature from the thermal array and uses the uncalibrated MQ-2 output as a relative value. Threshold combinations assign the measurements to four functional states, after which the measurement time, sensor values, and state labels are transmitted and stored. Functional tests confirmed the sequential operation of sensor-data acquisition, state classification, LoRa message transmission and reception, database storage, and visualization. In addition, Gazebo simulation and an indoor corridor test demonstrated two-dimensional map generation and relative-position display in the map frame using LiDAR, IMU, and optical-flow information. These results show that the fixed sensing node, communication and data-management layer, and UAV localization module can be organized as a coherent information flow, providing component-level evidence for the proposed platform architecture. The present study focuses on functional implementation rather than fire-detection or suppression performance. Future work should validate the thresholds and sensing response under controlled battery-fire conditions, quantify LoRa and SLAM performance, and implement closed-loop operation from sensing-node localization to autonomous UAV navigation and initial response.

Keywords

LiDAR-SLAM

Unmanned aerial vehicle

Internet of things

Indoor battery storage

Functional implementation

References

H.O. Choi and K.H. Lee, “Battery Explosion Accidents on the Rise: An Urgent Need for a Risk-Analysis-Based Safety Regulatory Framework as a Fundamental Remedy,” Science and Technology Policy Brief, Vol. 30, Science and Technology Policy Institute, Jul. 8, 2024.
National Fire Agency, “Lithium-Ion Battery Fires, 2019-2023,” Oct. 24, 2024, https://www.nfa.go.kr/nfa/safetyinfo/lifesafety/ stats/0010/?boardId=bbs_0000000000002463&cntId=17&mode=view (accessed Sep. 2, 2026).
J.H. Lee, “Characteristics and Gas Analysis of Lithium-Ion Batteries,” Korea Fire Protection Association (KFPA), Feb. 2022.
A. Mallarapu, N. Sunderlin, V. Boovaragavan, M. Tamashiro, C. Peabody, T. Pelloux-gervais, X.X. Li, and G. Sizikov, “Effects of Trigger Method on Fire Propagation during the Thermal Runaway Process in Li-Ion Batteries,” Journal of The Electrochemical Society, Vol. 171, No. 4, Art. no. 040514, 2024, doi: 10.1149/1945-7111/ad3aae.
10.1149/1945-7111/ad3aae
S.Y. Hwang, S.M. Choi, J. Shen, H.S. Choi, and D.S. Rho, “A Study on the Detection Algorithm of Off-gas to Prevent Thermal Runaway of Li-Ion Battery for ESS,” The Transactions of the Korean Institute of Electrical Engineers, Vol. 71, No. 12, pp. 1787-1795, 2022, doi: 10.5370/KIEE.2022.71.12.1787.
10.5370/KIEE.2022.71.12.1787
V. Madhurima, C. Raju, S. Manoj, and T. Guru Ragini, “EV’s Battery Monitoring and Emergency Suppression System,” 2023 IEEE Fifth International Conference on Advances in Electronics, Computers and Communications (ICAECC), Bengaluru, India, pp. 1-5, 2023, doi: 10.1109/ICAECC59324.2023.10560094.
10.1109/ICAECC59324.2023.10560094
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10.1109/ELEXCOM58812.2023.10370585
Y.K. Lee, “Lithium Battery Fire Suppression, What Should I Do?” Monthly Magazine TOOL, Vol. 240, pp. 152-157, Aug. 2024.
H. Durrant-Whyte and T. Bailey, “Simultaneous Localization and Mapping: Part I,” IEEE Robotics & Automation Magazine, Vol. 13, No. 2, pp. 99-110, Jun. 2006.
10.1109/MRA.2006.1638022
T. Bailey and H. Durrant-Whyte, “Simultaneous Localization and Mapping (SLAM): Part II,” IEEE Robotics & Automation Magazine, Vol. 13, No. 3, pp. 108-117, Sep. 2006.
10.1109/MRA.2006.1678144
G. Grisetti, R. Kummerle, C. Stachniss, and W. Burgard, “A Tutorial on Graph-Based SLAM,” IEEE Intelligent Transportation Systems Magazine, Vol. 2, No. 4, pp. 31-43, 2010.
10.1109/MITS.2010.939925
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Information

Publisher :The Society of Convergence Knowledge
Publisher(Ko) :융복합지식학회
Journal Title :The Society of Convergence Knowledge Transactions
Journal Title(Ko) :융복합지식학회논문지
Volume : 14
No :3
Pages :97-106
DOI :https://doi.org/10.22716/sckt.2026.14.3.007

[1] H.O. Choi and K.H. Lee, “Battery Explosion Accidents on the Rise: An Urgent Need for a Risk-Analysis-Based Safety Regulatory Framework as a Fundamental Remedy,” Science and Technology Policy Brief, Vol. 30, Science and Technology Policy Institute, Jul. 8, 2024.

[2] National Fire Agency, “Lithium-Ion Battery Fires, 2019-2023,” Oct. 24, 2024, https://www.nfa.go.kr/nfa/safetyinfo/lifesafety/ stats/0010/?boardId=bbs_0000000000002463&cntId=17&mode=view (accessed Sep. 2, 2026).

[3] J.H. Lee, “Characteristics and Gas Analysis of Lithium-Ion Batteries,” Korea Fire Protection Association (KFPA), Feb. 2022.

[4] A. Mallarapu, N. Sunderlin, V. Boovaragavan, M. Tamashiro, C. Peabody, T. Pelloux-gervais, X.X. Li, and G. Sizikov, “Effects of Trigger Method on Fire Propagation during the Thermal Runaway Process in Li-Ion Batteries,” Journal of The Electrochemical Society, Vol. 171, No. 4, Art. no. 040514, 2024, doi: 10.1149/1945-7111/ad3aae.
10.1149/1945-7111/ad3aae

[5] S.Y. Hwang, S.M. Choi, J. Shen, H.S. Choi, and D.S. Rho, “A Study on the Detection Algorithm of Off-gas to Prevent Thermal Runaway of Li-Ion Battery for ESS,” The Transactions of the Korean Institute of Electrical Engineers, Vol. 71, No. 12, pp. 1787-1795, 2022, doi: 10.5370/KIEE.2022.71.12.1787.
10.5370/KIEE.2022.71.12.1787

[6] V. Madhurima, C. Raju, S. Manoj, and T. Guru Ragini, “EV’s Battery Monitoring and Emergency Suppression System,” 2023 IEEE Fifth International Conference on Advances in Electronics, Computers and Communications (ICAECC), Bengaluru, India, pp. 1-5, 2023, doi: 10.1109/ICAECC59324.2023.10560094.
10.1109/ICAECC59324.2023.10560094

[7] A. Kumar, T.K. Barjatya, V. Verma, S.R. Singh, and A. Agrawal, “Design and Development of Fire Fighting Hexacopter Drone,” 2023 International Conference on Electrical, Electronics, Communication and Computers (ELEXCOM), Roorkee, India, pp. 85-90, 2023, doi: 10.1109/ELEXCOM58812.2023.10370585.
10.1109/ELEXCOM58812.2023.10370585

[8] Y.K. Lee, “Lithium Battery Fire Suppression, What Should I Do?” Monthly Magazine TOOL, Vol. 240, pp. 152-157, Aug. 2024.

[9] H. Durrant-Whyte and T. Bailey, “Simultaneous Localization and Mapping: Part I,” IEEE Robotics & Automation Magazine, Vol. 13, No. 2, pp. 99-110, Jun. 2006.
10.1109/MRA.2006.1638022

[10] T. Bailey and H. Durrant-Whyte, “Simultaneous Localization and Mapping (SLAM): Part II,” IEEE Robotics & Automation Magazine, Vol. 13, No. 3, pp. 108-117, Sep. 2006.
10.1109/MRA.2006.1678144

[11] G. Grisetti, R. Kummerle, C. Stachniss, and W. Burgard, “A Tutorial on Graph-Based SLAM,” IEEE Intelligent Transportation Systems Magazine, Vol. 2, No. 4, pp. 31-43, 2010.
10.1109/MITS.2010.939925

[12] Cartographer ROS, “Cartographer: Tuning Methodology,” https://google-cartographer-ros.readthedocs.io/en/latest/tuning.html (accessed Sep. 2, 2026).

[13] Cartographer, “Cartographer: Evaluation Concept,” https://google-cartographer.readthedocs.io/en/latest/evaluation.html#concept (accessed Sep. 2, 2026).

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