Autonomous Landing at Unprepared Sites for a Cargo Unmanned Air System Navy STTR FY2010.A Sol No.: Navy STTR FY2010.A Topic No.: N10A-T039 Topic Title: Autonomous Landing at Unprepared Sites for a Cargo Unmanned Air System Proposal No.: N10A-039-0643 Firm: Synetics Systems Engineering Corp 22605 La Palma Ave Suite 519 Yorba Linda, California 92887-4766 Contact: SIMON BOURNE Phone: (714) 692-1772 Abstract: A rapid prototyping simulation for the Autonomous Rotorcraft Land & Take-Off (ARLTO) system will be developed to analyze and evolve requirements for the landing and take-off of a Rotary-wing Autonomous Air Vehicle (RAAV) from unprepared terrain. The simulation is based upon the Task-Pilot-Vehicle modeling system and features a UH-60 configured with a Sliding Mode Control (SCM) inner loop closure. The baseline image sensing subsystem is a state-of-the-art electro-optic/infrared subsystem featuring color CCD TV, low light ECCCD TV and a laser rangefinder. The mission design is based upon the covert drop-off/pickup of cargo at a specified location accomplished in a GPS denied environment using a-priori geophysical digital elevation information and other data when available. The system uses passive sensing to minimize detection. Technical staff of the Jet Propulsion Laboratory (JPL) will assess the feasibility of interfacing the image sensor system with existing JPL image processing capabilities for terrain relative navigation and hazard detection and avoidance in the landing task. The ARLTO simulation is extensible to include a range of rotorcraft including twin rotor and tilt rotors. The SCM controller structure has the potential of providing robustness to disturbances and the ability to compensate for obstacles around the unprepared landing site Benefits: The anticipated benefits of the research include: The preliminary identification of the major technical risks in the integration of a state-of-the-art Electro-Optical/Infrared (EO/IR) sensor system with existing JPL image processing software. A preliminary assessment of the expected performance of existing JPL terrain relative navigation and hazard detection and avoidance functions when applied to data from the EO/IR sensor system. The preliminary development of a simulated, prototype LTO flight controller capable of safe operation in the One-Wheel-On-Ground/All-Wheels-On-Ground/Flat-Pitch-On-Ground flight segments governing touchdown on sloped, unprepared terrain. An assessment of the ability of the Sliding Mode Control inner loop controller of the RAAV to provide robustness to disturbances and the ability to compensate for obstacles around the unprepared landing site. The proposed ARTLO system design concept has the potential for providing significantly greater autonomy, reducing the active sensing signature and requiring minimal landing zone support compared to state-of-the-art systems currently under development such a the Boeing Hummingbird and Northrop-Grumman Firescout. The ARLTO capabilities are directly applicable to a broad range of national defense, homeland security, search and rescue and local police missions that are best supported by rotorcraft. Return