The Jet Propulsion Laboratory Autonomous Helicopter Testbed: A platform for planetary exploration technology research and development

TLDR

The Jet Propulsion Laboratory Autonomous Helicopter Testbed (AHT) is a low‑cost, radio‑controlled model helicopter platform that enables development and field testing of new technologies for future space missions, complementing other methods such as rocket sleds or parachute drops. The paper outlines the technologies being developed and tested on the AHT. The AHT employs image‑based hazard detection and avoidance algorithms and an extended Kalman filter that fuses inertial navigation with image‑based motion estimates to achieve pinpoint landing. The paper presents the AHT design, implementation, and experimental results, highlighting milestones achieved since 2001. © 2006 Wiley Periodicals, Inc.

Abstract

Abstract The Jet Propulsion Laboratory Autonomous Helicopter Testbed (AHT), an aerial robot based upon a radio‐controlled model helicopter, provides a small low‐cost platform for developing and field testing new technologies needed for future space missions. The AHT helps cover the test space in a complementary fashion to other methods, such as rocket sleds or parachute drops. The AHT design and implementation is presented as well as experimental results and milestones achieved since its creation in 2001. In addition, technologies we are developing and testing are described. These include image‐based hazard detection and avoidance algorithms for safe landing in dangerous terrain and an extended Kalman filter that augments inertial navigation with image‐based motion estimates to enable pin‐point landing. © 2006 Wiley Periodicals, Inc.