A laser obstacle detection and avoidance system for manned and unmanned aircraft applications

This paper presents the key design features, the numerical simulations and the experimental ground/flight test activities performed to verify the functionalities of an obstacle detection and avoidance system suitable for various classes of manned and unmanned aircraft. The Laser Obstacle Avoidance and Monitoring (LOAM) system is proposed as one of the key non-cooperative sensors adopted for avoiding obstacles/intruders in the context of a future Sense-and-Avoid (SAA) capability. After a brief description of the system architecture and of the main data processing algorithms, avoidance trajectory generation and performance estimation models are described. A simulation of the avoidance trajectory generation algorithm is performed in a realistic scenario. Additionally, a brief overview of ground and flight test activities performed on various platforms and their main results is also presented. Some of the key aspects of the LOAM Human Machine Interface and Interaction (HMI2) design are also outlined. The demonstrated detection and avoidance performances and the robust trajectory generation algorithm ensure a safe avoidance of all classes of obstacles (i.e. ground and aerial) in all weather conditions and flight phases.