TY - GEN
T1 - Hazard detection and avoidance for planetary landing based on Lyapunov control method
AU - Zhu, Shengying
AU - Cui, Pingyuan
AU - Hu, Haijing
PY - 2012
Y1 - 2012
N2 - Future planetary landers must be capable of detecting hazards in the landing zone and maneuvering to a new and safe site, for the requirements of the scientific task. This paper presents an autonomous hazard detection and avoidance method based on Lyapunov control method for planetary landing. The terrain of the landing zone is first reconstructed using the feature points of pictures at two different time, and the plane of the landing zone was determined by fitting the terrain elevation data. Then, hazards in the landing zone were identified according to the vitual plane. In order to reduce the potential threats by the hazards, an avoidance control law is designed using Lyapunov function method. The control law can guarantee the landers reach the safe site, simultaneously decrease the landing speed to zero. The results of numerical simulation show that the method is satisfactory for hazards detection and avoidance with assumed environments.
AB - Future planetary landers must be capable of detecting hazards in the landing zone and maneuvering to a new and safe site, for the requirements of the scientific task. This paper presents an autonomous hazard detection and avoidance method based on Lyapunov control method for planetary landing. The terrain of the landing zone is first reconstructed using the feature points of pictures at two different time, and the plane of the landing zone was determined by fitting the terrain elevation data. Then, hazards in the landing zone were identified according to the vitual plane. In order to reduce the potential threats by the hazards, an avoidance control law is designed using Lyapunov function method. The control law can guarantee the landers reach the safe site, simultaneously decrease the landing speed to zero. The results of numerical simulation show that the method is satisfactory for hazards detection and avoidance with assumed environments.
KW - Lyapunov function method
KW - flat terrain
KW - hazard detection and avoidance
KW - planetary lander
KW - terrain reconstruction
UR - https://www.scopus.com/pages/publications/84872345900
U2 - 10.1109/WCICA.2012.6358351
DO - 10.1109/WCICA.2012.6358351
M3 - Conference contribution
AN - SCOPUS:84872345900
SN - 9781467313988
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 2822
EP - 2826
BT - WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
T2 - 10th World Congress on Intelligent Control and Automation, WCICA 2012
Y2 - 6 July 2012 through 8 July 2012
ER -