Path Planning for a Solar-Powered UAV Inspecting Mountain Sites for Safety and Rescue

This paper focuses on the application using a solar-powered unmanned aerial vehicle (UAV) to inspect mountain sites for purpose of safety and rescue. An inspection path planning problem is formulated, which looks an UAV visit set where people may appear while avoiding collisions with mountains maintaining positive residual energy. A rapidly exploring random tree (RRT)-based method proposed. firstly finds feasible that satisfies energy requirement then shortens if there some abundant at end. Computer simulations are conducted demonstrate performance proposed method.