Vision-based hazard estimation during autonomous lunar landing
Abstract/Contents
- Abstract
- This thesis develops an information-seeking controller to augment a standard lander descent guidance algorithm in order to improve the performance of vision-based Hazard Detection and Avoidance for autonomous lunar landers. One of the main goals of HDA is to construct a map of the local terrain during the descent so that safe sites can be identified. A vision-based hazard sensing system has the considerable benefit of being lightweight such that it could be used on a small landing craft. However, the quality of hazard measurements derived from imagery is dependent on the spacecraft trajectory, and mapping performance can be degraded if this dependency is not properly accounted for. The new information-seeking controller developed in this thesis actively modifies the descent trajectory in response to the observed terrain to increase the quality and quantity of images used for hazard map creation. This is accomplished by using a novel, online framework to trade fuel against potential information gain. The hazard maps produced using this new information-seeking method show increased coverage and reduced uncertainty regarding the local hazard field when compared to the standard guidance approach. Simulated results using a variety of lander and environmental configurations are presented to demonstrate the effectiveness of the method.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2014 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Crane, Eleanor S |
|---|---|
| Associated with | Stanford University, Department of Aeronautics and Astronautics. |
| Primary advisor | Rock, Stephen M |
| Thesis advisor | Rock, Stephen M |
| Thesis advisor | Close, Sigrid, 1971- |
| Thesis advisor | Enge, Per |
| Advisor | Close, Sigrid, 1971- |
| Advisor | Enge, Per |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Eleanor S. Crane. |
|---|---|
| Note | Submitted to the Department of Aeronautics and Astronautics. |
| Thesis | Thesis (Ph.D.)--Stanford University, 2014. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2014 by Eleanor Crane
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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