Path Planning of Fire Fighting UAV for Plateau Forest Fires
In addressing the issue of path planning for UAVs(unmanned aerial vehicles)in plateau forest fire extinguishment,a three-dimensional geographic spatial model is constructed using a grid-based approach based on DEM(digital elevation model)data.The impacts of altitude,ambient wind,and fire temperature on UAV performance were analyzed.A UAV path planning model was established under multiple constraints,with the objective of finding the shortest path while minimizing energy consumption.An improved A*algorithm,combining weighted Euclidean and Chebyshev distances,was developed for solving the model.Results indicate that,compared to the traditional A*algorithm,the improved version reduces solution time by 36.73％,providing more optimal paths.Altitude has a minor impact on total path length and duration but significantly affects UAV energy consumption.In high-altitude environments(3 500 m)compared to plain environments(630 m),UAV energy consumption increases by 48.00％.Wind speed and direction primarily influence energy consumption and total duration.At 3 500 m altitude and 8 m/s wind speed,flying with the wind reduces energy consumption by 64.74％and shortens duration by 41.01％compared to flying against the wind.A rise in atmospheric temperature near the fire to 40 ℃ has minimal effect on UAV path planning and energy consumption.These findings provide a theoretical basis for applying UAVs in path planning for plateau forest fire extinguishment.
万方数据
维普
