NDLI: Hazard detection and avoidance for planetary landing based on Lyapunov control method

Content Provider	IEEE Xplore Digital Library
Author	Shengying Zhu Pingyuan Cui Haijing Hu
Copyright Year	2012
Description	Author affiliation: Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, Beijing 100081, China (Shengying Zhu; Pingyuan Cui; Haijing Hu)
Abstract	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.
Starting Page	2822
Ending Page	2826
File Size	299510
Page Count	5
File Format	PDF
ISBN	9781467313971
e-ISBN	9781467313988
DOI	10.1109/WCICA.2012.6358351
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-06
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hazards Rocks Lyapunov methods Feature extraction Cameras Mathematical model Equations Lyapunov function method hazard detection and avoidance planetary lander terrain reconstruction flat terrain
Content Type	Text
Resource Type	Article

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