Optimization Models of UAV Route Planning For Forest Fire Monitoring

This article reviews the literature on modern problems of detecting and extinguishing forest fires using unmanned aerial vehicles. We consider formulation and give solution to the problems of monitoring, flying over territories and extinguishing fires as task of delivering a payload to target points. The expediency of using unmanned aerial vehicles capable to monitor and participate directly in extinguishing fires in the presence of wind loads and impassable obstacles is shown. A heuristic search algorithm is developed that allows planning locally optimal routes for flying around the given area. We consider the route planning problem, which is complicated by the presence of wind flows affecting the speed and trajectory of a UAV. We conduct experimental studies in MATLAB Simulink program simulating the solution to the problem of flying around given area containing obstacles with the use of the mathematical models of a UAV and wind disturbances.