Landing Zone Analysis for Autonomous Medevac
The sloped field provides a slightly more complex scenario over the flat field. Here, the imaginary casualty is located near the top of a hill with many trees as obstacles. Not only must the system identify areas of steep slope that are unsafe, but it must also recognize that there are many landing areas available and chose among them based on safety and proximity to the casualty.
Click on any of the images for a more detailed picture.
Step 1: Survey a Point Cloud
The target region is surveyed by flying low over the target region. Here, we did a single pass over an open sloped field at an altitude of about 100 meters. Each measurement of the laser range finder returns a "point" that is registered in a global coordinate frame using the inertial navigation system. The survey results in a collection of points called a "point cloud," which represents the shape of the terrain.
In the picture below, the point cloud is color-coded for altitude. Bands in the color are the same as reading a topographic map.
Step 2: Rough Terrain Analysis
Step 3: Fine Terrain Analysis
Potential landing sites found by the rough analysis are then passed on for further inspection. The fine terrain analysis fits a three-dimensional model of the helicopter at each landing site in many different rotation orientations. The score of a certain position and orientation is a function of how close the body of the helicopter comes to obstacles, how good the contact of the landing gear is with the terrain, and the angle of the vehicle when sitting on the ground at that position. In the illustration below, the parallel lines show the position of the landing skids on the ground for the best-ranked orientation at that position. Again, the yellow->green gradient shows the score, with green being best. Red skid marks show locations that have been found unsuitable for landing. A good landing zone will ideally show a cluster of many good landing spots. Also notice, that the algorithm will reject any landing spots that are within a certain radius of the casualty, as denoted by the red circle surrounding the casualty icon.
Step 4: Landing Site Selection
After the candidate landing sites have been closely examined and ranked, the system then decides where to actually land. An ideal location will not only have a cluster of appropriate landing sites surrounding it, but it will also be close and accessible to the casualty. The final decision is a trade off between proximity to the casualty, and the suitability of the landing location. The decision is shown by the white concentric circles.