Autonomous Hazard Detection and avoidance for Mars exploration
Abstract
Progress in the design, development, and evaluation of Autonomous Hazard Detection and Avoidance (AHDA) systems required for real-time support of autonomous landings is described. In particular, an AHDA simulation test-bed incorporating range and intensity sensor simulations, vision algorithms, guidance and navigation modules, and a site re-designator/mission planner is currently under development. Preliminary simulation results indicate that systems employing AHDA have considerably higher probabilities of safe landings in comparison to systems that do not actively sense the terrain. In addition, the computational power required to support such AHDA systems appears technically feasible. Furthermore, these results have shown that an intensity sensor alone cannot reliably determine the presence of hazards, especially in shadowed and texture-less regions. Lastly, the ability to image the Martian surface, as impacted by vehicle dynamics and viewing geometry, is a major issue to be resolved in the future.
- Publication:
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IN: AIAA Computing in Aerospace Conference
- Pub Date:
- 1991
- Bibcode:
- 1991aiaa....1..174P
- Keywords:
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- Autonomous Navigation;
- Mars Landing;
- Mars Sample Return Missions;
- Obstacle Avoidance;
- Test Facilities;
- Aerospace Safety;
- Computer Vision;
- Feedback Control;
- Multisensor Applications;
- Spacecraft Guidance;
- Systems Simulation;
- Space Communications, Spacecraft Communications, Command and Tracking