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

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Abstract

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.

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Notes

  1. http://www.openstreetmap.org.

Abbreviations

AFCS:

Advanced flight control system

CoALa:

Communication application layer

EC:

Experimental-computer

ECC:

Experimental-co-computer

F3S:

Flexible sensor simulation suite

HELLAS:

Helicopter laser radar

LP:

Landing point

LEP:

Landing entry point

LOS:

Line of sight

SCC:

Sensor-co-computer

\(\epsilon\) :

Position tolerance parameter

\(\gamma , \chi\) :

Flight path angle, track

\(\Phi , \Theta , \Psi\) :

Roll, pitch, yaw angles

\(l_{1/2}\) :

Flight path segment lengths

\(S_{\mathrm {HC/LP/comb}}\) :

Subsets of \(\mathbb {R}^3\)

\(t_0\) :

Time at module start

\(t\mathrm{_{calc}}\) :

Calculation time since \(t_0\)

\(t\mathrm{_{predict}}\) :

Time from \(t_0\) to start planning

\(\tau\) :

Bezier curve parameter

\(x_g,y_g,z_g\) :

Geodetic coordinate

\(x_{\mathrm {HC}}\) :

Helicopter position

\(x\mathrm{_{start}}\) :

Start coordinate

\(v_{\mathrm {HC/LP/comb}}\) :

Visibility hulls

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Acknowledgments

The work of colleagues at the DLR’s Institutes of Flight Systems and Flight Guidance and the AVES flight simulator are greatly acknowledged.

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Authors and Affiliations

  1. Deutsches Zentrum für Luft- und Raumfahrt e.V., Institute of Flight Systems, Lilienthalplatz 7, Braunschweig, 38108, Germany

    M. Zimmermann & C. König

Authors
  1. M. Zimmermann
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  2. C. König
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Correspondence to M. Zimmermann.

Additional information

This paper is based on a presentation at the German Aerospace Congress, September 16–18, 2014, Augsburg, Germany.

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Zimmermann, M., König, C. Integration of a visibility graph based path planning method in the ACT/FHS rotorcraft. CEAS Aeronaut J 7, 391–403 (2016). https://doi.org/10.1007/s13272-016-0197-0

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  • DOI: https://doi.org/10.1007/s13272-016-0197-0

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