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Research on Lidar-based Hazard Detection Algorithms for Soft Planetary Landing

Author: WangBei
Tutor: CuiZuoTao
School: Harbin Institute of Technology
Course: Aircraft design
Keywords: Soft landing Autonomous obstacle detection Landing site selection Lidar LIDAR
CLC: TN958.98
Type: Master's thesis
Year: 2010
Downloads: 136
Quote: 1
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Abstract


The use of unmanned probes to the target landing site surface exploration or celestial sample return is the human exploration of the universe one important way to the development of future deep space exploration activities in one of the hotspots. In order to meet the needs of scientific exploration mission, the future lander needs to have autonomy obstacle detection and avoidance capabilities to enhance the lander's ability to survive in the hazardous area. Autonomous obstacle detection technology is a prerequisite for autonomous obstacle avoidance, this paper based on the autonomy of the laser radar obstacle detection methods conducted in-depth research. First, create a laser radar simulation modeling, and for the original topographic lidar data coupled with the presence of the lander attitude uneven spatial distribution of sampling points and the question on the use of raw LIDAR terrain data and information to build a lander attitude uniform grid elevation map method was studied. Secondly, craters, ravines and other large size obstacle detection of the first detection algorithm based on the smoothness, for the local variance is not easy to consider other factors to select the optimal landing windows problems, the introduction of the concept of flatness, and the establishment of the \In addition, taking into account the obstacles to the internal flat area is also often dangerous, we propose a model based on local slope areas obstacle detection algorithm. The algorithm uses threshold segmentation and region growing algorithm to extract the greatest obstacles to a flat area outside of the area as a candidate landing window area to ensure that the final selection window will not fall into the locally flat landing area. Then, the window for the landing small rocks and other obstacles detection, improved fitting plane based obstacle detection algorithms to improve the algorithm in real time. On the one hand, by dynamically setting the reference plane RANSAC sampling frequency estimation algorithm, so that a certain adaptive algorithm, in order to avoid unnecessary sampling; other hand, the obstacle detection process and the landing point of the search process alternately, the algorithm Output is expected as soon as possible from the nearest safe landing point placement. Finally, the use of the surface of Mars different characteristics of the terrain, and on the surface of Mars rock distribution model generates artificial random terrain, respectively, of the text of the regional-based obstacle detection algorithm and partial type obstacle detection algorithm was tested, simulation, testing, and simulation results detection algorithm is effective and feasible.

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CLC: > Industrial Technology > Radio electronics, telecommunications technology > Radar > Radar: institutional sub- > Optical positioning radar,laser radar
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