Erschienen in:
Journal of Field Robotics, 41 (2024) 5, Seite 1408-1425
Sprache:
Englisch
DOI:
10.1002/rob.22331
ISSN:
1556-4959;
1556-4967
Entstehung:
Anmerkungen:
Beschreibung:
AbstractThis paper discusses a method of determining the minimum safe altitude of an uncrewed aerial vehicle (UAV) at any point within a designated airspace by conducting a glide reachability analysis. Recently, fixed‐wing UAVs are more regularly deployed near population centers and in extreme environments, requiring increasingly robust emergency systems and planning. The long‐ranges and adverse terrain associated with monitoring the Volcán de Fuego in Guatemala by a team from the University of Bristol (UoB) increases the likelihood that motor failure would result in the aircraft being unable to Return To Home (RTH) and impossible to retrieve. A method for delineating a boundary representing the minimum safe altitude required for the aircraft to safely glide to the airfield in the event of a motor failure was developed within MATLAB, defined by the UAV's minimum glide angle in wind. This model was subsequently compared with flight data from UoB missions around Fuego to better improve its accuracy and analyze the limitations of the missions.