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<p>A hierarchical planning method with three levels was demonstrated in simulation and in autonomous flight on a Black Hawk helicopter. The reactive terrain avoidance software has been previously flown and has demonstrated the ability to sense and avoid previously unknown terrain while autonomously guiding the aircraft to a destination. The new mission level software adds the ability to make mission-length plans based on a stored terrain map while minimizing mission risk. Pilot or operator input can be as minimal as simply entering a destination and waiting, but the pilot or operator also has the capability to re-plan while en route, change speed, and add direction bias to influence the flight path. The system was flight-tested at four different sites with different types of terrain. The addition of this mission level improves the ability of the system to keep to a desired height above ground level, while allowing the pilot or operator to better predict the route of the aircraft and time to destination.</p>

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Autonomous flight with hierarchical planning

  • 期刊论文

  • 发表日期：

    2025年9月22日

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  • Chad Goerzen,
  • Marc Takahashi,
  • Matthew Whalley,
  • Gregory Schulein,
  • Nathan Mielcarek,
  • Wesley Ogden,
  • James Carr IV,
  • Carl Ott,
  • Kevin Thomazios,
  • David Waldman

摘要

A hierarchical planning method with three levels was demonstrated in simulation and in autonomous flight on a Black Hawk helicopter. The reactive terrain avoidance software has been previously flown and has demonstrated the ability to sense and avoid previously unknown terrain while autonomously guiding the aircraft to a destination. The new mission level software adds the ability to make mission-length plans based on a stored terrain map while minimizing mission risk. Pilot or operator input can be as minimal as simply entering a destination and waiting, but the pilot or operator also has the capability to re-plan while en route, change speed, and add direction bias to influence the flight path. The system was flight-tested at four different sites with different types of terrain. The addition of this mission level improves the ability of the system to keep to a desired height above ground level, while allowing the pilot or operator to better predict the route of the aircraft and time to destination.