Vision-Based Navigation for the NASA Mars Helicopter

Bayard, David S.; Conway, Dylan; Delaune, Jeff; Matthies, Larry; Grip, Håvard F.; Merewether, Gene; Brown, Travis L.; Martin, A. Miguel San

doi:10.2514/6.2019-1411

Cited by 42 publications

(35 citation statements)

References 14 publications

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“…Two recent articles describe aspects of the implementation and challenges for the Mars helicopter project conducted at JPL. Grip et al (2019) outline the control of the helicopter, whereas Bayard et al (2019) describe the visionbased navigation.…”

Section: Mars Helicoptermentioning

confidence: 99%

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AMADEE-18: Vision-Based Unmanned Aerial Vehicle Navigation for Analog Mars Mission (AVI-NAV)

et al. 2020

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Section: Mars Helicoptermentioning

confidence: 99%

“…In 2018, NASA announced that a Mars rover will be launched in 2020 and will carry a helicopter called Mars-Helicopter-Scout (Bayard et al, 2019;Grip et al, 2019). The Mars-Helicopter-Scout is a technology demonstration de-signed to prove capabilities in autonomous navigation of an aerial vehicle on Mars.…”

Section: Introductionmentioning

confidence: 99%

AMADEE-18: Vision-Based Unmanned Aerial Vehicle Navigation for Analog Mars Mission (AVI-NAV)

et al. 2020

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“…An aerodynamic model of the Mars Helicopter rotor for comprehensive analysis has been developed by Koning et al [21]. An in-depth description of the Mars Helicopter navigation algorithm is given by Bayard et al [22]. The design and fabrication of the rotor system, airframe, and landing gear is described by Pipenberg et al [23].…”

Section: Previous Workmentioning

confidence: 99%

“…The state estimate is based on fusing information from the onboard IMU, inclinometer, LRF, and navigation camera. In the following, a high-level description of the navigation algorithm is given; see [22] for a more in-depth description.…”

Section: Visual-inertial Navigationmentioning

confidence: 99%

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Flight Control System for NASA's Mars Helicopter

Grip

Lam

Bayard

et al. 2019

AIAA Scitech 2019 Forum

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As part of NASA's Mars 2020 rover Mission, an autonomous small-scale helicopter will be sent to Mars to conduct a series of demonstration flights, to validate the feasibility and utility of using helicopters for Mars exploration. In this paper, we present a high-level overview of the flight control system for the Mars Helicopter, including the Guidance, Navigation, and Control subsystems, and the implementation of these on the flight avionics hardware. We also discuss the concept of operations, and the testing, verification, and validation performed in a variety of test venues in preparation for Mars flight.

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A Vision-Based Assistance Key Differenciator for Helicopters Automonous Scalable Missions

Girard

Mavromatis

Séqueira

et al. 2019

Towards Autonomous Robotic Systems

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In the coming years, incremental automation will be the main challenge in the development of highly versatile helicopter technologies. To support this effort, vision-based systems are becoming a mandatory technological foundation for helicopter avionics. Among the different advantages that computer vision can provide for flight assistance, navigation in a GPS-denied environment is an important focus for Airbus because it is relevant for various types of missions. The present position paper introduces the different available SLAM algorithms, along with their limitations and advantages, for addressing vision-based navigation problems for helicopters. The reasons why Visual SLAM is of interest for our application are detailed. For an embedded application for helicopters, it is necessary to robustify the VSLAM algorithm with a special focus on the data model to be exchanged with the autopilot. Finally, we discuss future decisional architecture principles from the perspective of making vision-based navigation the 4th contributing agent in a wider distributed intelligence system composed of the autopilot, the flight management system and the crew.

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Vision-Based Navigation for the NASA Mars Helicopter

Cited by 42 publications

References 14 publications

AMADEE-18: Vision-Based Unmanned Aerial Vehicle Navigation for Analog Mars Mission (AVI-NAV)

AMADEE-18: Vision-Based Unmanned Aerial Vehicle Navigation for Analog Mars Mission (AVI-NAV)

Flight Control System for NASA's Mars Helicopter

A Vision-Based Assistance Key Differenciator for Helicopters Automonous Scalable Missions

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