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

Zimmermann, Michael and König, Christian (2014) Intregration of a visibility graph based path planning method in the ACT/FHS architecture. Deutscher Luft- und Raumfahrtkongress, 16.-18. Sept. 2014, Augsburg, Deutschland.

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Abstract

This work presents recent progress at the German Aerospace Center (DLR) in in-flight trajectory planning for the research aircraft "Active Control Technology / Flying Helicopter Simulator" (ACT/FHS), a highly modified EC135. During the DLR internal project ALLFlight, the ACT/FHS has been equipped with a sensor suite including a HELLAS-W LIDAR sensor, a forward looking RADAR, an infrared camera and a TV camera to provide sensor-based situational awareness. Based on environmental information acquired by these sensors, a method for planning an initial flight path from initially unknown landing entry points to the landing point based on a previously developed 2D method is presented. Further on, a 3D re-planning strategy based on visibility hulls is described. 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/91437/
Document Type:Conference or Workshop Item (Speech)
Title:Intregration of a visibility graph based path planning method in the ACT/FHS architecture
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Zimmermann, MichaelM.Zimmermann (at) dlr.deUNSPECIFIED
König, ChristianChristian.Koenig (at) dlr.deUNSPECIFIED
Date:September 2014
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:ACT/FHS, Research helicopter, landing, path planning, LIDAR, HELLAS
Event Title:Deutscher Luft- und Raumfahrtkongress
Event Location:Augsburg, Deutschland
Event Type:national Conference
Event Dates:16.-18. Sept. 2014
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
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Rotorcraft
Deposited By: Zimmermann, Michael
Deposited On:03 Nov 2014 11:53
Last Modified:13 Nov 2014 15:39

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