By Topic

Hazard detection and avoidance for planetary landing based on Lyapunov control method

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Shengying Zhu ; Key Lab. of Dynamics & Control of Flight Vehicle, Beijing, China ; Pingyuan Cui ; Haijing Hu

Future planetary landers must be capable of detecting hazards in the landing zone and maneuvering to a new and safe site, for the requirements of the scientific task. This paper presents an autonomous hazard detection and avoidance method based on Lyapunov control method for planetary landing. The terrain of the landing zone is first reconstructed using the feature points of pictures at two different time, and the plane of the landing zone was determined by fitting the terrain elevation data. Then, hazards in the landing zone were identified according to the vitual plane. In order to reduce the potential threats by the hazards, an avoidance control law is designed using Lyapunov function method. The control law can guarantee the landers reach the safe site, simultaneously decrease the landing speed to zero. The results of numerical simulation show that the method is satisfactory for hazards detection and avoidance with assumed environments.

Published in:

Intelligent Control and Automation (WCICA), 2012 10th World Congress on

Date of Conference:

6-8 July 2012