Field-Testing of a Helicopter UAV Obstacle Field Navigation and Landing System
نویسندگان
چکیده
Flight test results and lessons learned are presented for a helicopter UAV low-altitude navigation and landing system. Results are given for both urban and natural settings. The navigation component uses a quasi-3D A* approach to route planning that enables maneuver through complex terrain using real-time sensor data. The landing component performs landings to sites that it determines to be safe based on air vehicle and user-defined landing criteria. The primary terrain sensor is a hemispherical LADAR.
منابع مشابه
Artificially Intelligent Autonomous Aircraft Navigation System Using a Distance Transform on an FPGA
This project is an artificially intelligent navigation system for use on board unmanned aerial vehicles (UAVs). The system takes the available input data and a user-defined mission statement, integrates the data, and produces navigation reference signals that are used by other systems to control the plane. Figure 1 shows the UAV navigation system block diagram, which is implemented in an Altera...
متن کاملA Vision-Based Guidance System for UAV Navigation and Safe Landing using Natural Landmarks
In this paper a vision-based approach for guidance and safe landing of an Unmanned Aerial Vehicle (UAV) is proposed. The UAV is required to navigate from an initial to a final position in a partially known environment. The guidance system allows a remote user to define target areas from a high resolution aerial or satellite image to determine either the waypoints of the navigation trajectory or...
متن کاملThe Jet Propulsion Laboratory Autonomous Helicopter Testbed: A platform for planetary exploration technology research and development
The Jet Propulsion Laboratory Autonomous Helicopter Testbed AHT , an aerial robot based upon a radio-controlled model helicopter, provides a small low-cost platform for developing and field testing new technologies needed for future space missions. The AHT helps cover the test space in a complementary fashion to other methods, such as rocket sleds or parachute drops. The AHT design and implemen...
متن کامل3D Vision Based Landing Control of a Small Scale Autonomous Helicopter
Autonomous landing is a challenging but important task for Unmanned Aerial Vehicles (UAV) to achieve high level of autonomy. The fundamental requirement for landing is the knowledge of the height above the ground, and a properly designed controller to govern the process. This paper presents our research results in the study of landing an autonomous helicopter. The above‐the‐ground hei...
متن کاملUsing Fuzzy Logic for Autonomous Navigation
Successful navigation for unmanned autonomous vehicles (UAVs) depends on the ability of the navigation algorithm to fuse data from disparate sensor systems into a single direction command in real time, taking into account the various and sometimes contradictory goals of the UAV. In this paper, a fuzzybased method of sensor data analysis, fusion, and navigation is investigated. The results of ...
متن کامل