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Daniel Guggenheim School of Aerospace Engineering

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    A Comparison of Automatic Nap-of-the-Earth Guidance Strategies for Helicopters
    (Georgia Institute of Technology, 2014-05) Johnson, Eric N. ; Mooney, John G.
    This paper describes updated results from a partnership between the Sikorsky Aircraft Corporation and the Georgia Institute of Technology to develop, improve, and flight test a sensor, guidance, navigation, control, and real-time flight path optimization system to support high performance Nap-of-the-Earth (NOE) helicopter flight.
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    Terrain Height Evidence Sharing for Collaborative Autonomous Rotorcraft Operation
    (Georgia Institute of Technology, 2013-01) Johnson, Eric N. ; Mooney, John G. ; White, Matthew ; Hartman, Jonathan ; Sahasrabudhe, Vineet
    This paper describes recent results from a partnership between the Sikorsky Aircraft Corporation and the Georgia Institute of Technology to develop, improve, and flight test a sensor, guidance, navigation, control, and real-time information sharing system to support collaborative autonomy and high performance nap-of-the-Earth helicopter flight. The emphasis here is on smart and selective sharing of terrain data which (1) minimizes the bandwidth consumed by obstacle/terrain-information-sharing between aircraft, (2) assigns an appropriate level of confidence to the data received from other heterogeneous aircraft, (3) is robust to sensor error and failures, and (4) is robust to entry and exit of vehicles from the network. Results from simulation and flight testing are provided.
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    Flight Testing of Nap of-the-Earth Unmanned Helicopter Systems
    (Georgia Institute of Technology, 2011-05) Johnson, Eric N. ; Mooney, John G. ; Ong, Chester ; Sahasrabudhe, Vineet ; Hartman, Jonathan
    This paper describes recent results from a partnership between the Sikorsky Aircraft Corporation and the Georgia Institute of Technology to develop, improve, and flight test a sensor, guidance, navigation, control, and real-time flight path optimization system to support high performance nap-of-the-Earth helicopter flight. The emphasis here is on optimization for a combination of low height above terrain/obstacles and high speeds. Multiple methods for generating the desired flight path were evaluated, including (1) a simple processing of each laser scan; and (2) a potential field based method. Simulation and flight test results have been obtained utilizing an onboard laser scanner to detect terrain and obstacles while flying at low altitude, and have successfully demonstrated obstacle avoidance in a realistic semi-urban environment at speeds up to 40 ft/s while maintaining a miss distance of 50 ft horizontally and vertically. These results indicate that the technical approach is sound, paving the way for testing of even lower altitudes, higher speeds, and more aggressive maneuvering in future work.
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    High Performance Nap-of-the-Earth Unmanned Helicopter Flight
    (Georgia Institute of Technology, 2011) Johnson, Eric N. ; Mooney, John G. ; Ong, Chester ; Sahasrabudhe, Vineet ; Hartman, Jonathan
    This paper describes recent results from a partnership between the Sikorsky Aircraft Corporation and the Georgia Institute of Technology to develop, improve, and flight test a sensor, guidance, navigation, control, and real-time flight path optimization system to support high performance nap-of-the-Earth helicopter flight. The emphasis here is on optimization for a combination of low height above terrain/obstacles and high speeds. Multiple methods for generating the desired flight path were evaluated, including (1) a simple processing of each laser scan; and (2) a potential field based method. Simulation and flight test results have been obtained utilizing an onboard laser scanner to detect terrain and obstacles while flying at low altitude, and have successfully demonstrated obstacle avoidance at speeds up to 40 ft/s while maintaining a miss distance of 50 ft horizontally and vertically. These results indicate that the technical approach is sound, paving the way for testing of even lower altitudes, higher speeds, and more aggressive maneuvering in future work.