The Adaptive Vortex Search Algorithm of Optimal Path Planning for Forest Fire Rescue UAV

In view of the characteristics of the forest fire, such as sudden, spreading rapidly and high degree of harm, the unmanned aerial vehicle (UAV) is used to rapidly rescue forest fire with its advantages of rapid maneuver, and wide range. In this paper, optimal path planning for forest fire rescue UAV based on vortex search (VS) algorithm is proposed. Firstly, the terrain of the planning space is described by cubic interpolation method. Then, in terms of the solution quality, length and energy, the multi-objective cost function is used in the process of the path planning. Finally, the VS algorithm is applied to compute the optimal path for forest fire rescue UAV. Simulation results show that the VS algorithm has the good explorative and exploitation ability, while the path planned by VS algorithm is smooth, short and passing over the low attitude.