Landing Zone Analysis for Autonomous Medevac
This crossroads on top of a hill in a wooded area provide a site that our pilot said he could land in if needed for an emergency. The landing site is very constrained, so the system must chose its landing position carefully. The scan below was performed at an altitude of 100 meters.
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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 pass over an intersection in the woods 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
Step 4: Landing Site Selection