Conference Paper

TALOS: An Unmanned Cargo-Delivery System for Rotorcraft Landing to Unprepared Sites

Authors:
Paduano James at Aurora Flight Science
Paduano James
John Wissler
John Wissler
John Wissler
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Graham Drozeski
Graham Drozeski
Graham Drozeski
  • This person is not on ResearchGate, or hasn't claimed this research yet.
Piedmonte Michael at Bechamo LLC
Piedmonte Michael
  • Bechamo LLC
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Abstract

The growing interest of rotary wing UAVs, for military and civilian applications, has encouraged designers to consider miniaturized configurations, more efficient in terms of endurance, payload capability and maneuverability. The purpose of this paper is to study a new configuration of coaxial rotor as applied to a micro aerial vehicle (MAV) with the intention to guarantee the vehicle maneuverability while removing unnecessary control surfaces which would increase wind gust sensitivity. Coaxial rotor configurations maximize the available rotor disk surface and allow for torque cancelation. Tilting rotors may allow for the vehicle control.

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... The Office of Naval Research (ONR) Autonomous Aerial Cargo/Utility System (AACUS) program also addressed autonomous obstacle avoidance and landing at unprepared sites [15]. An emphasis of this program was portability, so their autonomy system was tested on a variety of partial-authority aircraft including the Boeing AH-6 Unmanned Little Bird, Bell 206 variants, and Aurora's Bell UH-1. ...
Autonomous Guidance and Flight Control on a Partial-Authority Black Hawk Helicopter
Conference Paper
Full-text available
  • Jun 2020
This paper describes an autonomous guidance and flight control system that was integrated and flight-tested on a partial-authority Black Hawk helicopter. This effort was part of the Degraded Visual Environment Mitigation program, whose objective is to provide all weather capability for U.S. Army rotorcraft operations. The guidance and flight-control system software were previously flight tested on a full-authority helicopter, and for this work, was adapted to fly on a partial-authority helicopter. The main autonomy components of the system consist of the Risk Minimizing Obstacle Field Navigation algorithm, Safe Landing Area Determination algorithm, and the Integrated Cueing Environment. These components provide reactive avoidance guidance, landing site selection, and pilot situational awareness for degraded visual environments. To test the system, a LADAR was used as a surrogate-ranging device in lieu of an all-weather sensor system that was concurrently under development for the program. The autonomous partial-authority flight control system provides a fully stabilized path-following capability that is directed with a series of waypoints or flight-path vector commands. This paper describes the control system, its performance, and how it was adapted to a partial-authority system that is typical of current U.S. Army fleet helicopters. The autonomy software and human interface components are also described. Flight test results are presented of the fully integrated system navigating through terrain, selecting landing sites, and autonomously landing. Analysis is presented that compares partial-authority results to previously collected full-authority results.
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