Terrain-following paradigm employing laser-range-finders and preview control

Arseny Livshitz, Moshe Idan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Performance and complexity of terrain-following systems depend predominantly on the chosen sensors as well as the employed path planning and guidance algorithms. This paper addresses the design and performance analysis for a preview-control laser-range-finder based terrain-following paradigm for unmanned fixed-wing aerial vehicles. The various error factors are discussed and the error propagation through the system is analyzed. The resulting error model is first verified using a realistic numerical simulation. The analytical model is then utilized to quantify the system tracking error, outline the preferred values for various system parameters in order to achieve higher terrain following performance, and suggest the optimal installation angle for the laser range finders. The derived analysis method grants an effective analytical method for gauging the terrain following performance for the proposed system.

Original languageEnglish
Title of host publicationAIAA Scitech 2019 Forum
StatePublished - 2019
EventAIAA Scitech Forum, 2019 - San Diego, United States
Duration: 7 Jan 201911 Jan 2019

Publication series

NameAIAA Scitech 2019 Forum


ConferenceAIAA Scitech Forum, 2019
Country/TerritoryUnited States
CitySan Diego

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering


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