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Hazard Avoidance is a key technology for a safe landing of future planetary landing missions. During Hazard Avoidance, sensors and computers onboard the lander are used to detect hazards in the landing zone, autonomously select the most suitable region for landing, and generate the trajectory that retargets the lander to the safer landing site. In this paper, algorithms are described for vision-based hazard detection, safe site selection and powered landing guidance designed for landing in planets without atmosphere. The algorithms are validated in a realistic simulated scenario representing a landing on Mercury. Results show that the developed Hazard Avoidance algorithms are effective at detecting hazards and guiding the lander to a safe landing site. ACRONYMSA t = constant horizontal acceleration a t = thrust acceleration command vector c 1 = polynomial coefficient c 2 = polynomial coefficient d max = maximum retargeting distance d 0 = distance at which the distance score is 0 dyn = design parameter g = planet gravity acceleration 1 Downloaded by UNIVERSITY OF NEW SOUTH WALES on July 30, 2015 | http://arc.aiaa.org |