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Fixed-wing aerial vehicles provide an efficient way to navigate longdistances or cover large areas for environmental monitoring applications. Bydesign, they also require large open spaces due to limited maneuverability.However, strict regulatory and safety altitude limits constrain the availablespace. Especially in complex, confined, or steep terrain, ensuring the vehicledoes not enter an inevitable collision state(ICS) can be challenging. In thiswork, we propose a strategy to find safe paths that do not enter an ICS whilenavigating within tight altitude constraints. The method uses periodic paths toefficiently classify ICSs. A sampling-based planner creates collision-free andkinematically feasible paths that begin and end in safe periodic (circular)paths. We show that, in realistic terrain, using circular periodic paths cansimplify the goal selection process by making it yaw agnostic and constrainingyaw. We demonstrate our approach by dynamically planning safe paths inreal-time while navigating steep terrain on a flight test in complex alpineterrain.

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