TY - GEN
T1 - A reliable algorithm of rock detection and avoidance for safe spacecraft landing
AU - Zhang, Zexu
AU - Wang, Weidong
AU - Cui, Pingyuan
PY - 2010
Y1 - 2010
N2 - A reliable algorithm of rock detection and avoidance for soft landing based on CCD landing camera is presented. Firstly, the image of landing zone is fast processed using multi-resolution analysis technique. The rocks of landing zone are detected reliably on the basis of lighting character. Secondly, the rocks detected are recognized and indexed in terms of unsupervised clustering algorithm. The topological diagram of rocks distributed on the landing zone is designed. Thirdly, the true hazard area of the landing zone is computed by the height from laser altimeter and the inner parameters of landing camera. Then the safe landing site selected is demanded to satisfy the safe bound of lander and exploration task. Finally, the safe avoidance strategy of lander is generated, which guides and controls the lander to maneuver to the new and safe site. Craters on the asteroid's surface are the most importance navigation landmarks on the phase of orbiting exploration.
AB - A reliable algorithm of rock detection and avoidance for soft landing based on CCD landing camera is presented. Firstly, the image of landing zone is fast processed using multi-resolution analysis technique. The rocks of landing zone are detected reliably on the basis of lighting character. Secondly, the rocks detected are recognized and indexed in terms of unsupervised clustering algorithm. The topological diagram of rocks distributed on the landing zone is designed. Thirdly, the true hazard area of the landing zone is computed by the height from laser altimeter and the inner parameters of landing camera. Then the safe landing site selected is demanded to satisfy the safe bound of lander and exploration task. Finally, the safe avoidance strategy of lander is generated, which guides and controls the lander to maneuver to the new and safe site. Craters on the asteroid's surface are the most importance navigation landmarks on the phase of orbiting exploration.
KW - Hazard avoidance
KW - Multi-resolution analysis
KW - Soft landing
KW - Targets detection and recognition
UR - http://www.scopus.com/inward/record.url?scp=79952126095&partnerID=8YFLogxK
U2 - 10.1109/ISSCAA.2010.5632733
DO - 10.1109/ISSCAA.2010.5632733
M3 - Conference contribution
AN - SCOPUS:79952126095
SN - 9781424460441
T3 - ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics
SP - 1009
EP - 1013
BT - ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics
T2 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics, ISSCAA2010
Y2 - 8 June 2010 through 10 June 2010
ER -