Autonomous Black Hawk in Flight: Obstacle Field Navigation and Landing-site Selection on the RASCAL JUH-60A

摘要

This paper describes the development and flight test of autonomous obstacle field navigation and safe landing area selection on the U.S. Army Aeroflightdynamics Directorate RASCAL JUH-60A research helicopter. Using laser detection and ranging (LADAR) as the primary terrain sensor, the autonomous flight system is able to avoid obstacles, including wires, and select safe landing sites. An autonomous integrated landing zone approach profile was developed and validated that integrates cruise flight, low-level terrain flight, and approach to a safe landing spot determined on the fly. Results are presented for a range of sites and conditions. Approximately 750 km of autonomous flight was performed, 230 km of which was at low altitude in mountainous terrain using the obstacle field navigation system. This is the first time a full-scale helicopter has been flown fully autonomously a significant distance in low-level flight over complex terrain, basing its planning solely on sensor data gathered from an onboard sensor. These flights demonstrate tight integration between terrain avoidance, control, and autonomous landing.