固定翼飞行器在陡峭高山环境中的自主主动测绘
Autonomous Active Mapping in Steep Alpine Environments with Fixed-wing Aerial Vehicles
AI总结：
本文提出一种固定翼飞行器自主系统，用于在陡峭高山环境中安全导航并测绘雪崩，通过实地实验验证其能有效提升地图质量，推动高山环境固定翼自主作业。
摘要：
监测大规模环境是管理偏远高山环境的关键任务，尤其是对于雪崩等危险事件。雪崩风险预报的一项关键信息是已发生雪崩的影像。由于这些雪崩发生在偏远且可能危险的地点，此类数据难以获取。固定翼飞行器因其长航程和高飞行速度，是收集航空影像以测绘雪崩活动的有前景的平台。然而，由于复杂地形、法规和不确定环境，在山地地形中操作此类飞行器仍然是一项挑战。在这项工作中，我们提出了一个能够使用固定翼航空系统安全导航并测绘雪崩的系统，并讨论了执行此类任务时出现的挑战。我们在实地实验中表明，我们能够在陡峭地形环境中有效导航，同时最大化地图质量。我们期望我们的工作能够在高山环境中实现更多固定翼飞行器的自主操作，以最大化所收集数据的质量。
英文摘要：
Monitoring large scale environments is a crucial task for managing remote alpine environments, especially for hazardous events such as avalanches. One key information for avalanche risk forecast is imagery of released avalanches. As these happen in remote and potentially dangerous locations this data is difficult to obtain. Fixed-wing vehicles, due to their long range and travel speeds are a promising platform to gather aerial imagery to map avalanche activities. However, operating such vehicles in mountainous terrain remains a challenge due to the complex topography, regulations, and uncertain environment. In this work, we present a system that is capable of safely navigating and mapping an avalanche using a fixed-wing aerial system and discuss the challenges arising when executing such a mission. We show in our field experiments that we can effectively navigate in steep terrain environments while maximizing the map quality. We expect our work to enable more autonomous operations of fixed-wing vehicles in alpine environments to maximize the quality of the data gathered.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
