Path Planning of Multiple UAVs for the Early Detection of Wildfires in the National Park of Kotychi and Strofylia Wetlands
Abstract
:1. Introduction
2. Materials and Methods
2.1. Study Area
2.2. Data Sources and Fuel Type Identification
2.3. Fire Danger Index Calculation
2.4. The Fire Detection of the National Park of Kotychi and Strofylia Wetlands Using UAVs Equipped with Vision Cameras
2.4.1. Dividing the Strofylia Forest Using the UAV’s Technical Properties
2.4.2. Building the UAVs’ Graph Based on the FDI Map and the Camera’s Field of View
2.4.3. Collision-Free Path Planning for Multiple UAVs: Two Heuristic Methods for Start and Goal Selection
- The search for the start and goal is conducted line by line, beginning from line 1 for the start node and from line n for the goal.
- The search starts from the corresponding nodes on the diagonal that were not selected for the path of the (i – 1)th UAV.
- The first nodes with w ≤ 4 are selected as the start and goal nodes.
3. Results
4. Discussion
5. Conclusions—Future Work
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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FM Code | Description | Corresponding Landcover Type(s) | Source |
---|---|---|---|
FM01 | Pine forests with shrub understory at more than 50% of the area | Pure or mixed stands with P. pinea and P. halepensis | Palaiologou [25] |
FM02 | Pine forests with shrub understory at less than 50% of the area | Pure or mixed stands with P. pinea and P. halepensis | Palaiologou [25] |
FM03 | Pine forests with occasional shrub understory | Pure or mixed stands with P. pinea and P. halepensis | Palaiologou [25] |
GS1 | Low Load, Dry Climate Grass–Shrub | Grasslands | Scott and Burgan [24] |
GS3 | Moderate Load, Humid Climate Grass–Shrub (Dynamic) | Recently burned areas | Scott and Burgan [24] |
GS4 | High Load, Humid Climate Grass–Shrub (Dynamic) | Wet Meadows | Scott and Burgan [24] |
SH2 | Moderate Load Dry Climate Shrub | J. phoenicea shrublands (moderate density) | Scott and Burgan [24] |
SH7 | Very High Load, Dry Climate Shrub | J. phoenicea shrublands (high density), Artificially regenerated stands of P. halepensis and P. pinea not exceeding 8 m height | Scott and Burgan [24] |
TU1 | Low Load Dry Climate Timber–Grass–Shrub (Dynamic) | Q. aegilops stands | Scott and Burgan [24] |
NB3 | Agricultural areas | Agricultural areas | Scott and Burgan [24] |
NB8 | Open water | Sea and inland water | Scott and Burgan [24] |
NB9 | Bare ground | Bare ground | Scott and Burgan [24] |
Number of the Square Area | Percentage of the Square Area That Is Covered by Extremely High and High Fire Danger Risk Regions | Percentage of the Extremely High and High Fire Risk Regions That Are Scanned Using a Single UAV | Maximum Number of UAVs That Can Scan Simultaneously the Region | ||
---|---|---|---|---|---|
w ≤ 2 | w ≤ 4 | w ≤ 2 | w ≤ 4 | ||
1 | 0% | 10% | - | 70% | 1 |
2 | 0% | <0.1% | - | 100% | 1 |
3 | 0% | <0.1% | - | 100% | 1 |
4 | 0% | 0% | NO SCANNING IS NEEDED | ||
5 | 0% | 3.5% | 0% | 0% | 1 |
6 | 0% | 0.7% | 0% | 0% | 1 |
7 | 7.5% | 24.1% | 14% | 9% | 6 |
8 | 0% | 0.4% | - | 100% | 1 |
9 | 5.3% | 23% | 13% | 8% | 8 |
10 | 9.4% | 15.5% | 12% | 10% | 4 |
11 | 6.7% | 11.6% | 20% | 16% | 4 |
12 | 0.5% | 2.5% | 99% | 95% | 1 |
13 | 0% | <0.1% | - | 100% | 1 |
14 | 0% | <0.1% | - | 100% | 1 |
15 | <0.1% | 1.5% | 100% | 100% | 1 |
16 | 0% | 0% | NO SCANNING IS NEEDED |
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Share and Cite
Kritikou, G.; Xofis, P.; Souflas, K.; Moulianitis, V. Path Planning of Multiple UAVs for the Early Detection of Wildfires in the National Park of Kotychi and Strofylia Wetlands. Fire 2024, 7, 444. https://doi.org/10.3390/fire7120444
Kritikou G, Xofis P, Souflas K, Moulianitis V. Path Planning of Multiple UAVs for the Early Detection of Wildfires in the National Park of Kotychi and Strofylia Wetlands. Fire. 2024; 7(12):444. https://doi.org/10.3390/fire7120444
Chicago/Turabian StyleKritikou, Georgia, Panteleimon Xofis, Konstantinos Souflas, and Vassilis Moulianitis. 2024. "Path Planning of Multiple UAVs for the Early Detection of Wildfires in the National Park of Kotychi and Strofylia Wetlands" Fire 7, no. 12: 444. https://doi.org/10.3390/fire7120444
APA StyleKritikou, G., Xofis, P., Souflas, K., & Moulianitis, V. (2024). Path Planning of Multiple UAVs for the Early Detection of Wildfires in the National Park of Kotychi and Strofylia Wetlands. Fire, 7(12), 444. https://doi.org/10.3390/fire7120444