Adaptive Selection of Safe Landing Zones for Aircraft

Abstract

An adaptive selection method for aircraft landing safety zones was proposed. A two-level obstacle detection method was adopted, where the first level obstacle detection identified data deviating significantly from the base plane as obstacle area and non-obstacle areas were divided into sub-areas for second level obstacle detection. The partition size could be adaptively adjusted according to the proportion of obstacle areas. Taking into account factors such as slope difference with base plane, obstacle value, and number of obstacles, a multi-faceted obstacle degree evaluation indicator was proposed to complete the selection of obstacle avoidance safety zones. Experimental verification with laser point-cloud data shows that this method can identify obstacle terrain, and the selected obstacle avoidance safety zone has no obvious obstacles, indicating the effectiveness of the method.

Keywords

MSR / soft landing / obstacle avoidance / laser point-data