DocumentCode :
3074588
Title :
A laser obstacle detection and avoidance system for manned and unmanned aircraft applications
Author :
Ramasamy, Subramanian ; Gardi, Alessandro ; Jing Liu ; Sabatini, Roberto
Author_Institution :
Sch. of Aerosp., Mech. & Manuf. Eng., RMIT Univ., Melbourne, VIC, Australia
fYear :
2015
fDate :
9-12 June 2015
Firstpage :
526
Lastpage :
533
Abstract :
This paper presents the key design features, the numerical simulations and the experimental ground/flight test activities performed to verify the functionalities of an obstacle detection and avoidance system suitable for various classes of manned and unmanned aircraft. The Laser Obstacle Avoidance and Monitoring (LOAM) system is proposed as one of the key non-cooperative sensors adopted for avoiding obstacles/intruders in the context of a future Sense-and-Avoid (SAA) capability. After a brief description of the system architecture and of the main data processing algorithms, avoidance trajectory generation and performance estimation models are described. A simulation of the avoidance trajectory generation algorithm is performed in a realistic scenario. Additionally, a brief overview of ground and flight test activities performed on various platforms and their main results is also presented. Some of the key aspects of the LOAM Human Machine Interface and Interaction (HMI2) design are also outlined. The demonstrated detection and avoidance performances and the robust trajectory generation algorithm ensure a safe avoidance of all classes of obstacles (i.e. ground and aerial) in all weather conditions and flight phases.
Keywords :
aerospace testing; autonomous aerial vehicles; collision avoidance; trajectory control; LOAM HMI2 design; LOAM human machine interface and interaction design; LOAM system; SAA capability; avoidance system; avoidance trajectory generation; data processing algorithms; experimental flight test activity; experimental ground test activity; laser obstacle avoidance and monitoring system; laser obstacle detection; manned aircraft application; noncooperative sensors; numerical simulations; performance estimation models; sense-and-avoid capability; unmanned aircraft application; Aircraft; Algorithm design and analysis; Assembly; Atmospheric modeling; Heuristic algorithms; Sensors; Trajectory; Avoidance Trajectory; Human Machine Interface; Laser; Obstacle Avoidance; Sense-and-Avoid;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2015 International Conference on
Conference_Location :
Denver, CO
Print_ISBN :
978-1-4799-6009-5
Type :
conf
DOI :
10.1109/ICUAS.2015.7152332
Filename :
7152332
Link To Document :
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