Exploring the Effect of Obscurants on Safe Landing Zone Identification

Manned rotorcraft are often employed in harsh environments and difficult terrain that are inaccessible to other craft. Conversely, robotic rotorcraft are operated in controlled settings, often at safe, high altitudes. Missions such as cargo delivery, medevac and fire fighting are unachievable becaus...

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Vydáno v:	Journal of intelligent & robotic systems Ročník 57; číslo 1-4; s. 281 - 295
Hlavní autoři:	Sevcik, Keith W., Kuntz, Noah, Oh, Paul Y.
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Dordrecht Springer Netherlands 01.01.2010 Springer Nature B.V
Témata:	Algorithms Artificial Intelligence Control Electrical Engineering Engineering Field tests High altitude Landing Laser range finders Mechanical Engineering Mechatronics Methodology Missions Robotics Rotary wing aircraft Rotorcraft Sensors Unmanned aerial vehicles Verifying performance Evaluating guidance algorithms Navigation and control
ISSN:	0921-0296, 1573-0409
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Abstract	Manned rotorcraft are often employed in harsh environments and difficult terrain that are inaccessible to other craft. Conversely, robotic rotorcraft are operated in controlled settings, often at safe, high altitudes. Missions such as cargo delivery, medevac and fire fighting are unachievable because of unpredictable adverse environmental conditions. To enable UAVs to perform these missions, the effects of obscurants on UAV sensor suites and algorithms must be clearly understood. This paper explores the use of a laser range finder to accomplish landing zone identification in unknown, unstructured environments. The ability to detect a landing zone in environments obscured by smoke is investigated. This is accomplished using a design methodology of testing and evaluating in a controlled environment followed by verification and validation in the field. This methodology establishes a concrete understanding of the sensor performance, thereby removing ambiguities in field tests.
AbstractList	Issue Title: Special Issue: Selected papers from the 2nd International Symposium on UAVs, Reno, U.S.A. June 8-10, 2009 / Guest Edited by Kimon P. Valavanis, Randy Beard, Paul Y. Oh, Anibal Ollero, Les A. Piegl and Hyunchul Shim Manned rotorcraft are often employed in harsh environments and difficult terrain that are inaccessible to other craft. Conversely, robotic rotorcraft are operated in controlled settings, often at safe, high altitudes. Missions such as cargo delivery, medevac and fire fighting are unachievable because of unpredictable adverse environmental conditions. To enable UAVs to perform these missions, the effects of obscurants on UAV sensor suites and algorithms must be clearly understood. This paper explores the use of a laser range finder to accomplish landing zone identification in unknown, unstructured environments. The ability to detect a landing zone in environments obscured by smoke is investigated. This is accomplished using a design methodology of testing and evaluating in a controlled environment followed by verification and validation in the field. This methodology establishes a concrete understanding of the sensor performance, thereby removing ambiguities in field tests.[PUBLICATION ABSTRACT] Manned rotorcraft are often employed in harsh environments and difficult terrain that are inaccessible to other craft. Conversely, robotic rotorcraft are operated in controlled settings, often at safe, high altitudes. Missions such as cargo delivery, medevac and fire fighting are unachievable because of unpredictable adverse environmental conditions. To enable UAVs to perform these missions, the effects of obscurants on UAV sensor suites and algorithms must be clearly understood. This paper explores the use of a laser range finder to accomplish landing zone identification in unknown, unstructured environments. The ability to detect a landing zone in environments obscured by smoke is investigated. This is accomplished using a design methodology of testing and evaluating in a controlled environment followed by verification and validation in the field. This methodology establishes a concrete understanding of the sensor performance, thereby removing ambiguities in field tests.
Author	Kuntz, Noah Oh, Paul Y. Sevcik, Keith W.
Author_xml	– sequence: 1 givenname: Keith W. surname: Sevcik fullname: Sevcik, Keith W. organization: Department of Mechanical Engineering and Mechanics, Drexel University – sequence: 2 givenname: Noah surname: Kuntz fullname: Kuntz, Noah organization: Department of Mechanical Engineering and Mechanics, Drexel University – sequence: 3 givenname: Paul Y. surname: Oh fullname: Oh, Paul Y. email: paul@coe.drexel.edu organization: Department of Mechanical Engineering and Mechanics, Drexel University
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Cites_doi	10.1109/CDC.2004.1430284 10.2514/2.4988 10.1002/rob.20126 10.1109/ROBOT.2002.1013656 10.1016/0004-6981(71)90116-8 10.1109/ROBOT.2005.1570727 10.1109/ROBOT.2007.363619 10.1109/IROS.2007.4399410 10.1002/rob.20147
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SubjectTerms	Algorithms Artificial Intelligence Control Electrical Engineering Engineering Field tests High altitude Landing Laser range finders Mechanical Engineering Mechatronics Methodology Missions Robotics Rotary wing aircraft Rotorcraft Sensors Unmanned aerial vehicles
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Title	Exploring the Effect of Obscurants on Safe Landing Zone Identification
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