A UAV Path Planning Algorithm Based on an Improved D* Lite Algorithm for Forest Firefighting

This paper proposes a new type of forest firefighting method. When one or more suspected fire spots are found in the forest, the firefighting Unmanned Aerial Vehicles (UAVs) can safely and quickly reach the desired location, conduct a thorough investigation of the suspected fire spots. If a fire occurs, it is necessary to drop firefighting materials to put out the fire. At the same time, considering the characteristics of limited endurance and low load capability have always limited the applications of UAVs, Unmanned Ground Vehicles (UGVs) arc considered in this paper as an additional and comprehensive problem solution to provide enera and supplement materials for UAVs. In order to enable firefighting UAV to plan a safe and effective path in real time in the complex forest environment, a new improved D*Lite algorithm is proposed for UAVs in the mission team. Even when the 3D workspace is partially known or completely unknown, the algorithm can plan an effective path so that the firefighting UAV can move to the fire spots and UGV in real time.