Exploring the Effect of Obscurants on Safe Landing Zone Identification

Currently, robotic rotorcraft determine landing zones based on visual cues or predetermined GPS waypoints. Missions such as perch-and-stare or cargo delivery demand the ability to detect safe landing zones in unstructured environments. To enable these missions, high fidelity maps can be constructed to assist the robot in locating a place to land. In constructing these maps, realistic problems such as airborne obscurants must be recognized and accounted for. Dust from down wash or smoke from fires must not jeopardize the UAV. This paper explores the use of a laser range finder to accomplish landing zone identification in unknown, unstructured environments. The ability to detect a landing zone in environments obscured by smoke is investigated. This is accomplished using a design methodology of testing and evaluating in a controlled environment followed by verification and validation in the field. This methodology establishes a concrete understanding of the sensor performance, thereby removing ambiguities in field tests.