Stochastic modeling of a hazard detection and avoidance maneuver—The planetary landing case

Hazard Detection and Avoidance (HDA) functionalities, thus the ability to recognize and avoid potential hazardous terrain features, is regarded as an enabling technology for upcoming robotic planetary landing missions. In the forefront of any landing mission the landing site safety assessment is an important task in the systems and mission engineering process. To contribute to this task, this paper presents a mathematical framework to consider the HDA strategy and system constraints in this mission engineering aspect. Therefore the HDA maneuver is modeled as a stochastic decision process based on Markov chains to map an initial dispersion at an arrival gate to a new dispersion pattern affected by the divert decision-making and system constraints. The implications for an efficient numerical implementation are addressed. An example case study is given to demonstrate the implementation and use of the proposed scheme.