In a three-dimensional (3D) disaster rescue mission environment, multi-drone assignments and path planning are challenging. Aiming at this problem, assignment method based on adaptive genetic algorithms (AGA) using sine–cosine particle swarm optimization (SCPSO) proposed. First, an original 3D digital terrain model is constructed. Second, common threat sources in environments modeled, including...

Sampling-based planning algorithm is a powerful tool for solving problems in high-dimensional state spaces. In this article, we present novel approach to sampling the most promising regions, which significantly reduces time-consumption. The RRT# defines Relevant Region based on cost-to-come provided by optimal forward-searching tree. However, it uses cumulative cost of direct connection between...

This letter addressesa path planning problem for a team of mobile robots, such as unmanned aerial vehicles, patrolling ground region surveillance. An effective navigation algorithm is developed and proved to be asymptotically optimal in the sense that ratio revisit period minimum possible converges one area tends infinity. Illustrative examples comparisons with an existing method show efficienc...