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Landing Area Selection Based on Closed Environment Avoidance from a Single Image During Optical Coarse Hazard Detection
Earth, Moon, and Planets ( IF 0.9 ) Pub Date : 2018-07-01 , DOI: 10.1007/s11038-018-9516-2
Ruoyan Wei , Jianwei Jiang , Xiaogang Ruan , Jianke Li

The success of a landed space exploration depends largely on the final landing site, and the most important factor of landing site selection is the safety of lander, so, hazard detection and avoidance are crucial during asteroid landing. Many approaches have been proposed at present, most of them just detect hazard and select an area that is free of hazard threaten, however, in some cases, the selected site should not be the places that located in closed environment, such as the inner of crater. To tackle the issue, an approach for selecting landing site with closed environment avoidance based on a single image during optical coarse hazard detection was proposed in this paper, the approach was designed under the scheme of Chang’e-3’s landing process. The approach begins with hazard detection based on a proposed binary method. And then, for searching the candidate circular landing areas, the skeletons of areas with no hazard are taken into account, and then, control constraints are considered to select the landing areas that are accessible by the lander. Finally, the final selected circular landing area are chosen by a proposed scoring method, this method combines the factors of circular areas, including radius, the connection among circular areas, circular area’s texture and the cluster relation between circular area’s center and all the hazard. At last, serious of experiments would be conducted to test the performance of the proposed approach.

中文翻译:

基于单幅图​​像封闭环境回避的光学粗险探测着陆区选择

着陆空间探索的成功在很大程度上取决于最终的着陆地点,而着陆地点选择最重要的因素是着陆器的安全性,因此在小行星着陆过程中,危险的检测和规避至关重要。目前已经提出了很多方法,大多只是检测危险,选择没有危险威胁的区域,但在某些情况下,选择的地点不应该是位于封闭环境中的地方,如内部火山口。针对这一问题,本文针对嫦娥三号的着陆过程,提出了一种基于单幅图​​像的光学粗险探测着陆点选择方法,该方法是根据嫦娥三号的着陆过程设计的。该方法从基于建议的二进制方法的危险检测开始。然后,在搜索候选圆形着陆区时,考虑无危险区域的骨架,然后考虑控制约束选择着陆器可到达的着陆区。最后,通过提出的评分方法选择最终选定的圆形着陆区域,该方法综合了圆形区域的因素,包括半径、圆形区域之间的联系、圆形区域的纹理以及圆形区域中心与所有危险之间的聚类关系。最后,将进行大量实验来测试所提出方法的性能。最终选定的圆形着陆区是通过提出的评分方法选择的,该方法结合了圆形区域的因素,包括半径、圆形区域之间的连接、圆形区域的纹理以及圆形区域中心与所有危险之间的聚类关系。最后,将进行大量实验来测试所提出方法的性能。最终选定的圆形着陆区是通过提出的评分方法选择的,该方法结合了圆形区域的因素,包括半径、圆形区域之间的连接、圆形区域的纹理以及圆形区域中心与所有危险之间的聚类关系。最后,将进行大量实验来测试所提出方法的性能。
更新日期:2018-07-01
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