Near-Optimal Terrain Collision Avoidance Trajectories using Elevation Maps

The main attempt of this paper is to present a new methodology to model a generic low-level flight close to terrain, which guarantees terrain collision avoidance. Benefiting the advantages of high-speed computer technology, this method uses satellite elevation maps to generate so-called "quad-tree forms." The latter is then used to find the optimal trajectories for low-level flights. The novelty of this approach, entitled the "cost map," lies in the integration of aircraft dynamics into the segmented map. This procedure results in some near-optimal trajectories with respect to aircraft dynamics that could easily be used for minimization of flight path together with pilot effort. Different simulations show the method is applicable wherever there is no need for sharp changes in flight level. Nevertheless, the current method could be expanded to three-dimensional terrain avoidance/terrain following flights.