Keywords
landing zone determination, autonomous multirotor aircraft, UAS, unmanned aircraft
Abstract
This paper presents an approach for finding possible landing sites for a rotorcraft from an inertially referenced point-cloud model of the environment. To identify potential landing sites that are suitably flat and level, a grid-based random sample consensus algorithm separates the terrain map into discrete areas for plane-fitting analysis. Landing sites are selected that satisfy constraints on flatness and levelness while optimizing the surveillance target’s visibility. Flight test results are presented from a small multirotor aircraft flying over a scale-model cityscape. Results from real-time landing-site experiments are presented and discussed.
Original Publication Citation
Mackay, J., Ellingson, G., and McLain, T. Landing Zone Determination for Autonomous Rotorcraft in Surveillance Applications, Proceedings of the AIAA Guidance, Navigation, and Control Conference, AIAA 2016-1137, January 2016, San Diego, California.
BYU ScholarsArchive Citation
McLain, Timothy; Ellingson, Gary J.; and Mackay, Justin, "Landing Zone Determination for Autonomous Rotorcraft in Surveillance Applications" (2016). Faculty Publications. 1893.
https://scholarsarchive.byu.edu/facpub/1893
Document Type
Conference Paper
Publication Date
2016-1
Permanent URL
http://hdl.lib.byu.edu/1877/3846
Publisher
AIAA
Language
English
College
Ira A. Fulton College of Engineering and Technology
Department
Mechanical Engineering
Copyright Status
©2017 AIAA. This is the author's submitted version of this article. The definitive version can be found at https://arc.aiaa.org/doi/abs/10.2514/6.2016-1137
Copyright Use Information
http://lib.byu.edu/about/copyright/