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SENSOR-BASED ONLINE PATH PLANNING FOR ROTORCRAFT LANDING

Zimmermann, Michael (2016) SENSOR-BASED ONLINE PATH PLANNING FOR ROTORCRAFT LANDING. Deutscher Luft- und Raumfahrtkongress, 2016-09-13 - 2016-09-15, Braunschweig.

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Offizielle URL: http://publikationen.dglr.de/?tx_dglrpublications_pi1[document_id]=420109

Kurzfassung

This paper describes a reactive path planning strategy to avoid obstacles in partially known environments during the approach-to-landing phase of a manned helicopter. As experimental platform, the research rotorcraft Active Control Technology/Flying Helicopter Simulator (ACT/FHS) is used. This highly modified EC135 is equipped with a commercial forward-looking Light Detection and Ranging (LiDAR) sensor with a range of 1 km. During an approach to an unmapped landing site, geo-referenced LiDAR samples are acquired and combined with database information. The resulting representation of the environment is used for the generation of flight paths which are collision free, technically feasible and acceptable for pilots. Once new samples are collected by the LiDAR sensor, the environment map is updated in real time and the flight path is changed based on typical approach procedures if necessary. Due to experimental aspects, a manual trajectory following was used by providing the pilot with a "Tunnel-In-The-Sky" head down display including visual cues for spatial and speed guidance during the approach. Results show the applicability of the presented planning strategy based on five approaches made to Braunschweig airport in a flight trail conducted in 2015. Furthermore, the need for proper Human-Machine-Interface design is indicated in order to communicate decisions made by the system to the pilot, which exceeds the scope of this work.

elib-URL des Eintrags:https://elib.dlr.de/109821/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:SENSOR-BASED ONLINE PATH PLANNING FOR ROTORCRAFT LANDING
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Zimmermann, MichaelM.Zimmermann (at) dlr.dehttps://orcid.org/0000-0001-9343-5254NICHT SPEZIFIZIERT
Datum:2016
Referierte Publikation:Ja
Open Access:Nein
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Nein
Status:veröffentlicht
Stichwörter:Helicopter, Approach, LiDAR, Landing
Veranstaltungstitel:Deutscher Luft- und Raumfahrtkongress
Veranstaltungsort:Braunschweig
Veranstaltungsart:nationale Konferenz
Veranstaltungsbeginn:13 September 2016
Veranstaltungsende:15 September 2016
Veranstalter :Deutsche Gesellschaft für Luft- und Raumfahrt - Lilienthal-Oberth e.V.
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Luftfahrt
HGF - Programmthema:Hubschrauber
DLR - Schwerpunkt:Luftfahrt
DLR - Forschungsgebiet:L RR - Rotorcraft Research
DLR - Teilgebiet (Projekt, Vorhaben):L - Der intelligente Drehflügler (alt)
Standort: Braunschweig
Institute & Einrichtungen:Institut für Flugsystemtechnik > Hubschrauber
Hinterlegt von: Zimmermann, Michael
Hinterlegt am:20 Mär 2017 14:02
Letzte Änderung:24 Apr 2024 20:15

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