Sensor-based automated obstacle-avoidance system for nap-of-the-earth rotorcraft missions

Richard A. Coppenbarger

doi:10.1117/12.241895

7 June 1996 Sensor-based automated obstacle-avoidance system for nap-of-the-earth rotorcraft missions

Richard A. Coppenbarger

Proceedings Volume 2735, Head-Mounted Displays; (1996) https://doi.org/10.1117/12.241895
Event: Aerospace/Defense Sensing and Controls, 1996, Orlando, FL, United States

Abstract

A rotorcraft guidance and control system designed for real-time detection and avoidance of terrain and obstacles has been developed and evaluated in a moving-base simulation. The system, referred to as pilot-directed guidance (PDG), relies upon forward-looking sensor information along with digital terrain elevation data to perform automated terrain-following and lateral and vertical obstacle avoidance maneuvering in the presence of flight path obstructions. An important aspect of this system is that it does not restrict the pilot to a predefined nominal course but instead allows for complete flight-path autonomy with no prior surveying of the obstacle environment. The pilot interface has been designed to enable the obstacle-avoidance sub-system to be transparent to the pilot except when performing emergency obstacle avoidance. Back-driven cockpit controls provide cueing to the pilot and also facilitate pilot-override of automated maneuvers when necessary, such as in the event of a sensor failure. The pilot interface also includes HMD symbology to provide the pilot with navigation and system performance information. This paper describes the fundamental components of the PDG system; the forward-looking sensor, data processing and fusion, guidance algorithms, controller design, and pilot interface. Important results from a piloted simulation are then presented that describe the overall performance and workload reduction potential of the PDG system.

Citation Download Citation

Richard A. Coppenbarger "Sensor-based automated obstacle-avoidance system for nap-of-the-earth rotorcraft missions", Proc. SPIE 2735, Head-Mounted Displays, (7 June 1996); https://doi.org/10.1117/12.241895

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