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Integration of a visibility graph based path planning method in the ACT/FHS architecture

Zimmermann, Michael and König, Christian (2016) Integration of a visibility graph based path planning method in the ACT/FHS architecture. CEAS Aeronautical Journal, 7 (3), pp. 391-403. Springer. doi: 10.1007/s13272-016-0197-0. ISSN 1869-5590.

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Official URL: http://link.springer.com/article/10.1007/s13272-016-0197-0


This work presents recent progress at the German Aerospace Center (DLR) in landing guidance for helicopter approaches to landing sites without prior reconnaissance. During the project ALLFlight, DLRs research rotorcraft Advanced Control Technology/Flying Helicopter Simulator (ACT/FHS) has been equipped with a sensor suite including a LIDAR sensor, a forward looking RADAR, an infrared camera and a TV camera to provide sensor-based situational awareness. Using the information acquired by the LIDAR, a method for planning an initial flight path from previously unknown landing entry points to the landing point is presented. It is based on a previously developed method using a vehicle point representation, geo-referenced flight surfaces and visibility graphs. A second mode to provide re-planning capabilities in-flight is described. First results of flight tests conducted in 2013 are presented and discussed. Using the data recorded during these approaches, an improved re-planning strategy for the final approach based on so called visibility hulls is presented. This work continues recent research at DLR’s Institute of Flight Systems helicopter department for flight under degraded visual environment (DVE) for a full-scale helicopter.

Item URL in elib:https://elib.dlr.de/111552/
Document Type:Article
Title:Integration of a visibility graph based path planning method in the ACT/FHS architecture
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Zimmermann, Michaelm.zimmermann (at) dlr.dehttps://orcid.org/0000-0001-9343-5254
König, Christianchristian.koenig (at) dlr.deUNSPECIFIED
Date:13 June 2016
Journal or Publication Title:CEAS Aeronautical Journal
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1007/s13272-016-0197-0
Page Range:pp. 391-403
Keywords:helicopter, rotorcraft, landing, ACT/FHS, LiDAR, path planning
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Rotorcraft
Deposited By: Zimmermann, Michael
Deposited On:20 Mar 2017 14:15
Last Modified:20 Mar 2017 14:15

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