Abstract

During the process of the soft landing, because of the lunar surface topography, the spacecraft will be subject to the threat of an obstacle and makes the landing fail. Therefore, hazard avoidance and addressing are the key technology for spacecraft soft landing in the lunar surface. In this paper, algorithms are described for vision-based hazard detection, safe site selection and real-time dynamic addressing. The algorithms are validated in a realistic simulated scenario representing a landing on lunar. Results show that the developed hazard avoidance algorithms are effective at detecting hazards and guiding the lander to a safe landing site.

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