Design and Flight Test Results for a Hemispherical LADAR Developed to Support Unmanned Rotorcraft Urban Operations Research

A newly developed hemispherical laser detection and ranging sensor is described. The system was developed to support field-testing of algorithms for landing site selection and obstacle field navigation. Results are presented for flight tests with a calibration target and obstacle field, and for mapping of a large structure. Results are also presented for using the sensor in conjunction with previously developed autonomous landing site selection software.