Real-Time Hazard Detection and Avoidance Demonstration for a Planetary Lander

Epp, Chirold; Robertson, Edward A.; Carson, John M.

doi:10.2514/6.2014-4312

Cited by 25 publications

(12 citation statements)

References 16 publications

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“…The Cooperative Blending of Autonomous Landing Technology (COBALT) [20,21] is a system that enables safe and precise landing by combining the Lander Vision System (LVS) [22] led by NASA Jet Propulsion Laboratory with the Autonomous Landing Hazard Avoidance Technology (ALHAT) [23][24][25] developed by NASA Langley. The system uses lidar or a lander vision system along with Terrain Relative Navigation (TRN) algorithms to compare in situ images to a priori maps of the landing area to determine position relative to the landing site.…”

Section: Autonomous Capabilitiesmentioning

confidence: 99%

Autonomous Surface Site Establishment to Ensure Safe Crew Arrival and Operations

Jones

Joyce

Capenter

et al. 2018

2018 AIAA SPACE and Astronautics Forum and Exposition

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Traditional human Mars missions have relied on crew to support the surface systems. However, for safety, the surface systems will likely need to be setup and capable of operating prior to the arrival of crew. To mitigate risks to the crew, a novel surface architecture has been developed that addresses risks associated with other Mars missions. This architecture relies on a reusable descent and ascent vehicle, extensive in-situ resource utilization, redundant habitation systems, and emerging autonomous capabilities. The resulting surface architecture increases safety for the crew while also providing potential to expand to support longer missions with larger populations in the future.

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Section: Autonomous Capabilitiesmentioning

confidence: 99%

Autonomous Surface Site Establishment to Ensure Safe Crew Arrival and Operations

Jones

Joyce

Capenter

et al. 2018

2018 AIAA SPACE and Astronautics Forum and Exposition

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“…These advantages are primarily a small beam footprint, a wide field of view and aperture, and direct, fast measurement of lander altitude with respect to the surface of a planet. 27…”

Section: D Imaging Flash Lidarmentioning

confidence: 99%

Innovative hazard detection and avoidance guidance for safe lunar landing

Jiang

Tao

2016

Proceedings of the Institution of Mechanical Engineers, Part G:

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Safe planetary landing is considered a key technology for future robotic and manned planetary landing missions. The relay hazard detection and proportion–integration–differentiation avoidance guidance algorithms were used in Chang’e-3 mission, which not only increased the complexity of the guidance system, but also resulted in non-fuel-optimal avoidance guidance from the viewpoint of fuel consumption. To further develop and improve the hazard detection and avoidance scheme of Chang’e-3, novel autonomous hazard avoidance methodologies should be investigated. This paper addresses an innovative hazard detection and avoidance scheme for safe lunar landing from the following three aspects: imaging flash lidar based hazard detection, safe landing site selection strategy, and minimum-fuel hazard avoidance guidance. First, the three-dimensional imaging flash lidar, a developing three-dimensional imaging sensor, is utilized to rapidly and precisely detect three-dimensional terrain of the landing area. Second, the hazard detection and optimum landing site selection strategy inherited from Chang’e-3 are improved and enhanced to estimate the potential obstacles, and select an optimum landing site which is the guidance target of following hazard avoidance. Next, the fuel-optimal hazard avoidance guidance problem is transcribed into as a minimum-fuel consumption optimization problem using the Gauss pseudospectral method, which is easily solved by the open-source software GPOPS. Finally, the validity of the autonomous hazard detection and avoidance guidance scheme proposed in this paper is confirmed by computer simulation.

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“…As such, the heritage flight system should enable a dynamic retargeting to avoid the hazards detected by the sensing systems [4]. Such a critical technology is referred to as the Autonomous Landing and Hazard Avoidance Technology (ALHAT) that is currently under development at the Jet Propulsion Laboratory (JPL) [5,6,7,8]. One of the required technologies in AL-HAT is that during the maneuver, the lander spacecraft should allow the sensors to see the landing site (when these sensors are not articulated) as well as including time and altitude margins for adjusting the trajectory based on the information gathered by the sensors [9].…”

Section: Introductionmentioning

confidence: 99%