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《Acta Aeronautica Et Astronautica Sinica》 2010-08
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Autonomous Obstacle Detection and Avoidance for Planetary Landing

Li Shuang1,Peng Yuming1,Liu Yufei2(1.College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)(2.China Academy of Space Technology,Beijing 100094,China)  
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.
【Fund】: 国家自然科学基金(60804057);; 高等学校博士学科点专项科研基金(200802871031);; 中国博士后科学基金(20090450148);; 江苏省博士后科研资助计划(0901037C)
【CateGory Index】: V467
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