Research/ PLANETARY ROBOTICS

Field test implementation to evaluate a flash LIDAR as a primary sensor for safe lunar landing

Jason A. Keim, Sohrab Mobasser, Da Kuang, Yang Cheng, Tonislav Ivanov, Andrew Johnson, Hannah Goldberg, Garen Khanoyan, David B. Natzic

IEEE Aerospace 2010/Mar 1, 2010/ 25 citations

Space × RoboticsPLANETARY ROBOTICS

Technique

Perception & State EstimationOpenAlex topic: Robotics and Sensor-Based Localization

Indexed as

OpenAlexAdvanced Optical Sensing Technologies · Robotics and Sensor-Based Localization · Aerospace Engineering and Control Systems

DOI Semantic Scholar OpenAlex

From May 2 through May 7 of 2008, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) Exploration Technology Development Program carried out a helicopter field test to assess the use of a flash LIDAR as a primary sensor during lunar landing. The field test data has been used to evaluate the performance of the LIDAR system and of algorithms for LIDAR Hazard Detection and Avoidance, Hazard Relative Navigation, and Passive Optical Terrain Relative Navigation. Reported here is a comprehensive description of the field test hardware, ground infrastructure and trajectory reconstruction methodologies.