A Method for UAV Collision-Free Path Planning in Forest Fire Rescue Missions over an Uneven Terrain

To address the challenges of mountain fire navigation in uneven environments, this paper proposes a collision-free path planning method for UAV s to perform forest fire rescue tasks in uneven terrain. Drawing on previous research, our approach utilises an Unmanned Aerial Vehicle (UAV) for disaster area rescue and a reactive algorithm coupled with RRT for obstacle avoidance to ensure efficient monitoring and real-time rescue routing around obstacles. This approach combines advanced fire modelling with state-of-the-art navigation techniques to improve hill fire response strategies by focusing on hill fire surveillance missions in uneven environments.