Browse > Article
http://dx.doi.org/10.5139/JKSAS.2016.44.1.12

Performance Analysis of Landing Point Designation Technique Based on Relative Distance to Hazard for Lunar Lander  

Lee, Choong-Min (Department of Mechanical and Aerospace Engineering/ASRI Seoul National University)
Park, Young-Bum (Department of Mechanical and Aerospace Engineering/ASRI Seoul National University)
Park, Chan-Gook (Department of Mechanical and Aerospace Engineering/ASRI Seoul National University)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.44, no.1, 2016 , pp. 12-22 More about this Journal
Abstract
Lidar-based hazard avoidance landing system for lunar lander calculates hazard cost with respect to the desired local landing area in order to identify hazard and designate safe landing point where the cost is minimum basically using slope and roughness of the landing area. In this case, if the parameters are only considered, chosen landing target can be designated near hazard threatening the lander. In order to solve this problem and select optimal safe landing point, hazard cost based on relative distance to hazard should not be considered as well as cost based on terrain parameters. In this paper, the effect of hazard cost based on relative distance to hazard on safe landing performance was analyzed and it was confirmed that landing site designation with two relative distances to hazard results in the best safe landing performance by an experiment using three-dimensional depth camera.
Keywords
Lidar(Light detection and ranging); HDA; Depth camera;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Epp, Chirold D., and Thomas B. Smith. "Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT)," Aerospace Conference, IEEE, IEEE, 2007.
2 Shankar, Uday J., et al. "Lunar Terrain Surface Modeling for the ALHAT Program," Aerospace Conference, 2008 IEEE, IEEE, 2008.
3 Johnson, Andrew E. and James F. Montgomery. "Overview of Terrain Relative Navigation Approaches for Precise Lunar Landing," Aerospace Conference, IEEE, IEEE, 2008.
4 Johnson, Andrew E., et al. "Lidar-Based Hazard Avoidance for Safe Landing on Mars," Journal of Guidance, Control and Dynamics, Vol. 25, No. 6, 2002, pp. 1091-1099.   DOI
5 Johnson, Andrew E., et al. "Analysis of On-Board Hazard Detection and Avoidance for Safe Lunar Landing," Aerospace Conference, IEEE, IEEE, 2008
6 Cohanim, Babak E., and Brian K. Collins. "Landing Point Designation Algorithm for Lunar Landing," Journal of Spacecraft and Rockets, Vol. 46, No.4, 2009, pp.858-864.   DOI
7 de Lafontaine, Jean, David Neveu, and Karina Lebel. "Autonomous Planetary Landing Using a Lidar Sensor: the Closed-Loop System," AIAA Guidance, Navigation and Control Systems Conference, 2006.
8 Gribbon, Kim T., and Donald G. Bailey. "A Novel Approach to Real-time Bilinear Interpolation," Field-Programmable Technology, 2004. Proceedings. 2004 IEEE International Conference on. IEEE, 2004.
9 Lim, Tae W., and Austin J. Toombs. "Pose Estimation Using a Flash Lidar," AIAA Guidance, Navigation and Control Conference, 2014.