This work aims to be a contribution to the many topics covered in the UAM and AAM operations conducted in BVLOS, within environment at low/medium risk. The design and validation of a simple and cost-effective 2D LiDAR-based ground system for Safe Landing Area Determination for small UAVs has been presented. It is capable of providing a point cloud of the 3D surveillance volume reconstructed from 2D laser distance measurements by triangulation, using a servo motor to rotate the sensor (a low-cost RPLIDAR A1M8, developed by Slamtec Co., Shanghai, China) along the vertical axis. The system can detect the UAV as it enters the landing volume, to estimate its position with respect to the landing site, and to monitor the descent of the flying robot. Data collection was managed by a Raspberry Pi 3 microcomputer. A point cloud calibration procedure allowed correct reconstruction of the 3D scenario, by reducing tilt errors of the mechanical structure and geometric distortions. An obstacle detection strategy based on simple clustering by means of differences between homologous points in a reference point cloud, and a scenario with obstacles, demonstrates the capability of the system in terms of detecting and signalling obstacles to the approaching aircraft. The application of safe landing trajectories as a function of the dynamic identification of obstacles (humans, hazards, etc.) in a surveillance volume surrounding the landing site, both in indoor and outdoor scenarios, is a significant improvement from the ordinary vertical landing path, typical of other auto landing systems on-board the aircraft. In principle, the LiDAR-equipped ground station could provide safe landing information, even for missions where the UAV is supposed to land on a moving platform. Sending corrections to the landing trajectory to the approaching UAV via a communication link is the main aspect to be implemented in the successive stages of the research.


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    Titel :

    Conclusions


    Weitere Titelangaben:

    Studies in Systems, Decision and Control


    Beteiligte:
    Ariante, Gennaro (Autor:in) / Papa, Umberto (Autor:in)


    Erscheinungsdatum :

    16.06.2024


    Format / Umfang :

    2 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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