Integration of active and passive sensors for obstacle avoidanceThe automatic obstacle-avoidance guidance problem is studied under the operational constraints imposed by the rotorcraft nap-of-the-earth (NOE) environment. The problem is discussed for two different circumstances. The first assumes that a full range map is available, irrespective of the type of sensor being used. Two approaches are proposed to extend a two-dimensional obstacle-avoidance concept presented by Cheng (1988). The situation where only a sparse range map is available from a passive sensor is also treated. An integrated approach that augments the passive sensor with an active one is discussed, along with the problem of data fusion and how it is affected by the characteristics of NOE flight.
Document ID
19890066712
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Cheng, Victor H. L. (NASA Ames Research Center Moffett Field, CA, United States)
Sridhar, Banavar (NASA Ames Research Center Moffett Field, CA, United States)