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Evaluation of Safe Landing Area Determination Algorithms for Autonomous Rotorcraft Using Site Benchmarking

机译：基于场地基准的自主旋翼飞机安全着陆区确定算法评估

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摘要

An important element of rotorcraft UAV operations is safe landing area determination (SLAD), which is the ability to select desirable landing or load placement areas at unprepared sites. Effectively and reliably accomplishing this task would greatly enhance high-level autonomous capabilities in many operations such as search and rescue and resupply. This paper presents the results of quantitatively evaluating two SLAD algorithms using a new test method that incorporates a detailed survey of the test sites. These survey sites act as benchmarks against which the SLAD methods are compared. One SLAD algorithm is a new approach that uses laser range data to detect a set of potential landing points and uses fuzzy logic to rank them based on surface roughness, size, and terrain slope metrics. The second algorithm uses laser range data to optimize a performance index, based on sliding window statistics of surface slope and roughness over the landing zone, to select potential landing points. Flight-test data were collected at six sites ranging from simple to complex with multiple runs at each site. Both methods are evaluated based on their true-positive and false-positive rates and the consistency of their landing site selection.
机译：旋翼飞行器无人机操作的重要要素是安全着陆区确定（SLAD），这是在未准备好的地点选择理想的着陆区或装载区的能力。有效而可靠地完成此任务将极大地增强许多操作（如搜索，救援和补给）中的高级自治功能。本文介绍了使用一种新的测试方法对两种SLAD算法进行定量评估的结果，该方法结合了对测试地点的详细调查。这些调查地点可作为比较SLAD方法的基准。一种SLAD算法是一种新方法，该方法使用激光测距数据检测一组潜在的着陆点，并使用模糊逻辑根据表面粗糙度，大小和地形坡度度量对它们进行排序。第二种算法使用激光测距数据来优化性能指标，基于滑窗统计的着陆区表面坡度和粗糙度，以选择潜在的着陆点。在从简单到复杂的六个地点收集了飞行测试数据，每个地点进行了多次运行。两种方法均根据其正确率和错误率以及着陆点选择的一致性进行评估。

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  • 来源
    《Journal of the American Helicopter Society》 |2013年第3期|032007.1-032007.13|共13页
  • 作者

    Marc D. Takahashi; Avi Abershitz; Rafael Rubinets; Matthew S. Whalley;

  • 作者单位

    Aeroflightdynamics Directorate (AMRDEC) U.S. Army Research, Development, & Engineering Command, Moffett Field, CA;

    Engineering Division Israel Aerospace Industries Ben-Gurion Airport, LOD, Israel;

    Engineering Division Israel Aerospace Industries Ben-Gurion Airport, LOD, Israel;

    Aeroflightdynamics Directorate (AMRDEC) U.S. Army Research, Development, & Engineering Command, Moffett Field, CA;

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