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The Jet Propulsion Laboratory Autonomous Helicopter Testbed: A platform for planetary exploration technology research and development
Author(s) -
Montgomery James F.,
Johnson Andrew E.,
Roumeliotis Stergios I.,
Matthies Larry H.
Publication year - 2006
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20110
Subject(s) - testbed , aerospace engineering , propulsion , jet propulsion , engineering , in space propulsion technologies , terrain , simulation , inertial navigation system , systems engineering , space exploration , inertial measurement unit , computer science , spacecraft propulsion , inertial frame of reference , physics , quantum mechanics , biology , ecology
The Jet Propulsion Laboratory Autonomous Helicopter Testbed (AHT), an aerial robot based upon a radio‐controlled model helicopter, provides a small low‐cost platform for developing and field testing new technologies needed for future space missions. The AHT helps cover the test space in a complementary fashion to other methods, such as rocket sleds or parachute drops. The AHT design and implementation is presented as well as experimental results and milestones achieved since its creation in 2001. In addition, technologies we are developing and testing are described. These include image‐based hazard detection and avoidance algorithms for safe landing in dangerous terrain and an extended Kalman filter that augments inertial navigation with image‐based motion estimates to enable pin‐point landing. © 2006 Wiley Periodicals, Inc.