Preview Control Approach for Laser-Range-Finder-Based Terrain Following

Arseny Livshitz, Moshe Idan

Research output: Contribution to journalArticlepeer-review


This paper addresses the design and performance analysis for a preview control laser range finder (LRF) based terrain-following system for fixed-wing unmanned aerial vehicles. The complexity and performance of such systems depend predominantly on the chosen concept and the layout of its hardware components, mainly its sensors. The related estimation and control algorithms designed for the terrain-following task have to further address system uncertainties and disturbances. In this paper, a laser range sensor based terrain-following system is proposed. The various error factors are discussed and the error propagation through the system is analyzed. The resulting error model is first verified using a numerical simulation, Subsequently, it is utilized to quantify the system tracking error, outline the preferred values for various system parameters in order to achieve higher terrain-following performance, and finally suggest the optimal pointing angle for the LRF. The suggested analysis approach and results grant an effective analytical method for designing such terrain-following system and evaluating its performance.

Original languageEnglish
Article number8792963
Pages (from-to)1318-1331
Number of pages14
JournalIEEE Transactions on Aerospace and Electronic Systems
Issue number2
StatePublished - Apr 2020


  • Error propagation analysis
  • laser range finder (LRF)
  • path generation
  • preview control
  • terrain following
  • trajectory following

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Preview Control Approach for Laser-Range-Finder-Based Terrain Following'. Together they form a unique fingerprint.

Cite this