Details

Autor(en) / Beteiligte

• Lim, Jaeyoung
• Achermann, Florian
• Girod, Rik
• Lawrance, Nicholas
• Siegwart, Roland

Titel

Safe Low-Altitude Navigation in Steep Terrain with Fixed-Wing Aerial Vehicles

Ist Teil von

• IEEE robotics and automation letters, 2024-05, Vol.9 (5), p.1-8

Ort / Verlag

IEEE

Erscheinungsjahr

2024

Quelle

IEL

Beschreibungen/Notizen

• Fixed-wing aerial vehicles provide an efficient way to navigate long distances or cover large areas for environmental monitoring applications. By design, they also require large open spaces due to limited maneuverability. However, strict regulatory and safety altitude limits constrain the available space. Especially in complex, confined, or steep terrain, ensuring the vehicle does not enter (ICS) can be challenging. In this work, we propose a strategy to find safe paths that do not enter (ICS) while navigating within tight altitude constraints. The method uses periodic paths to efficiently classify (ICS). A sampling-based planner creates collision-free and kinematically feasible paths that begin and end in safe periodic (circular) paths. We show that, in realistic terrain, using circular periodic paths can simplify the goal selection process by making it yaw agnostic and constraining yaw. We demonstrate our approach by dynamically planning safe paths in real-time while navigating steep terrain on a flight test in complex alpine terrain.