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Successful landings are a crucial aspect to extraterrestrial studies. Our mission is to ensure safe touchdown by using a modified RANSAC algorithm integrated with LiDAR systems .
Project Statement
Project Statement
Our team will use LiDAR systems integrated with UAS to determine the safest landing site. This testing will mock that of Mars landings to improve extraterrestrial studies. We will develop and modify the RANSAC algorithm to use 3D point cloud data from LiDAR systems. This LiDAR system will be integrated with a DJI Matrice 600 to test landings at the Raspet Flight Research Laboratory (RFRL) UAS Testing Center.
Project Objectives
Project Objectives
Research RANSAC using MATLAB Programming
Research MCS to MCU Integration using Raspberry Pi Applications and Python Programming
Research MCU to LiDAR Integration using Velodyne Applications and Linux Programming
Develop Algorithm in MATLAB for 2D Data/ Modify for 3D Data
Integrate MCU to LiDAR System
Integrate MCS to MCU
Conduct Testing to Determine Safe Landing Spot
Analyze Data
Document Results and CONOPS for Mars Landings
Accomplishments
Accomplishments
Our team completed significant research, developed a RANSAC algorithm, integrated a Microcontroller Unit (MCU) to LiDAR system, integrated a Motion Capture System (MCS) to MCU, and completed significant ground testing. Specifically, our team used Velodyne applications to receive and analyze point cloud data from the LiDAR system, the VLP-16 LiDAR Puck, while working to integrate the MCS and MCU using Raspberry Pi and Pixhawk communications. Lastly, we developed the RANSAC algorithm using 2D simulate data as input. This algorithm proved that the RANSAC algorithm is more effective and less costly than other methods such as the Least Squares method.
Moving Forward
Moving Forward
Integrate RANSAC algorithm with 3D point cloud data
Consider nonlinear landing paths
Perform dynamic testing for landing spot determination
Aerospace Engineering Department
Aerospace Engineering Department
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