A terrain avoidance algorithm based on the requirements of terrain awareness and warning systems

This paper describes a method in which databases of terrain and obstacles maintained by government agencies are combined into a single database with the final goal of implementation into a sense-and-avoid algorithm currently in development at the University of North Dakota. With the new regulations set forth by the Federal Aviation Administration, strict requirements have to be met before unmanned aerial vehicles are allowed integration into the national airspace. Amongst these requirements is an ability to automatically avoid large obstacles, i.e., buildings, hills, mountains, and airports.