星际着陆自主障碍检测与规避技术

电子与自动控制

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星际着陆自主障碍检测与规避技术

李爽¹，彭玉明¹，刘宇飞²

1.南京航空航天大学航天学院2.中国空间技术研究院

收稿日期:2009-09-07 修回日期:2009-10-30 出版日期:2010-08-25 发布日期:2010-08-25
通讯作者: 李爽

Autonomous Obstacle Detection and Avoidance for Planetary Landing

Li Shuang¹, Peng Yuming¹, Liu Yufei²

1.College of Astronautics, Nanjing University of Aeronautics and Astronautics2.China Academy of Space Technology

Received:2009-09-07 Revised:2009-10-30 Online:2010-08-25 Published:2010-08-25
Contact: Li Shuang

摘要/Abstract

摘要： 为了在具有科学价值的复杂地形区域实现安全着陆，未来的星际着陆器必须具备自主障碍检测与规避的能力。从星际着陆导航传感器技术、自主障碍检测方法和自主障碍规避技术3个方面出发，对星际着陆自主障碍检测与规避技术进行较全面的分析和总结。首先，对适用于星际着陆自主障碍检测的各种主动式和被动式传感器的工作原理、优缺点进行较深入的阐述；接着，基于不同传感器的测量信息，对各种自主障碍检测方法的障碍检测能力、优缺点进行较详细的对比分析；然后，基于多信息融合的自主障碍检测方法，对安全着陆点选择的原则进行阐述；最后，对星际着陆自主障碍规避流程和适用于星际着陆自主障碍规避的制导控制方法进行较系统的总结。

关键词: 星际着陆, 障碍检测, 障碍规避, 激光雷达, 相机

Abstract: In order to achieve safe landing in a region of complex terrain with high scientific value, future planetary landers must have the capability of autonomous obstacle detection and avoidance. In this article, a comprehensive review and analysis are carried out on autonomous obstacle detection and avoidance for planetary landing, which includes planetary landing sensors, autonomous obstacle detection algorithms and autonomous obstacle avoidance guidance algorithms. First, the operating principles, advantages and disadvantages of a variety of active and passive sensors suited for planetary landing autonomous obstacle detection are discussed in detail. Then, the capabilities, advantages and disadvantages of various autonomous obstacle detection methods are presented in a contrastive analysis based on different sensor measurement information. After this, the principle of safe landing point selection is brought forward based on the multi-information fusion autonomous obstacle detection method. Finally, a summary is made of the processes of autonomous obstacle avoidance and obstacle avoidance guidance control algorithms suitable for planetary landing.

Key words: planetary landing, obstacle detection, obstacle avoidance, light detection and ranging, cameras

中图分类号:

V448.2

李爽;彭玉明;刘宇飞. 星际着陆自主障碍检测与规避技术[J]. 航空学报, 2010, 31(8): 1584-1592.

Li Shuang;Peng Yuming;Liu Yufei. Autonomous Obstacle Detection and Avoidance for Planetary Landing[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2010, 31(8): 1584-1592.

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星际着陆自主障碍检测与规避技术

Autonomous Obstacle Detection and Avoidance for Planetary Landing

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