2. Multicriteria Decision ApproachesOnce candidate landing sites have been identified and characterised, a process is needed for selecting the most suitable landing site from the set of candidate sites identified. |
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Illustration of The Site Selection Process |
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Description of Research This section of the UAV Forced Landing Research Program investigates the application of multi-criteria decision making techniques for addressing the landing site selection problem. Site selection for forced landing involves Multiple Criteria Decision Making in real time, under conditions of uncertainty, and with constantly changing inputs. A number of potential landing sites would be identified in the previous phase through image processing, and one must be selected that would facilitate the highest chance of a successful landing. The decision making process will take into account various attributes such as wind velocity, candidate landing site geometry, proximity to population, obstacles, etc., while trying to minimize the risk to human life, property, and the UAV itself in this order of priority. The entire process will be implemented onboard the UAV, being fully automated, while allowing intervention from human operators if necessary. Current Research Programs Publications Related Sites Research Personnel Related Media |
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3. Navigation and Trajectory PlanningPhase 3 of the forced landing problem requires the UAS to be able to determine a trajectory to reach an identified landing site. |
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Illustration of forced landing trajectory problem |
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Description of Research This section of the UAV Forced Landing Research Program focuses on enabling a UAS to intelligently construct its own landing trajectory to a desired landing site location, from any initial position, and also to be able to dynamically adjust that trajectory to deal with changing winds and uncertainties in the location of the landing site. The approach is currently researching the use of motion primitives, where the final, planned trajectory can be idealized as a sentence that is constructed from different words, called primitives, obtained from a library of such primitives. An additional component in the final landing approach ensures that the UAS is able to determine a suitable final landing approach. This component of the UAV Forced Landing Research Program focuses on the use of EO sensors and vision-based processing techniques to provide the necessary attitude and navigation information to allow a UAS to perform a landing at a landing site with no or little prior knowledge on the conditions of the site. The research has successfully employed a range of vision-domain techniques including optical flow and horizon detection. Current Research Programs Publications Related Sites Research Personnel Related Media
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