Probabilistic Path Planning for UAVs in Forest Fire Monitoring: Enhancing Patrol Efficiency through Risk Assessment

Forest fire is a significant global natural disaster, and unmanned aerial vehicles (UAVs) have gained attention in wildfire prevention for their efficient and flexible monitoring capabilities. Proper UAV patrol path planning can enhance fire-monitoring accuracy and response speed. This paper proposes a probabilistic path planning (PPP) module that plans UAV patrol paths by combining real-time fire occurrence probabilities at different points. Initially, a forest fire risk logistic regression model is established to compute the fire probabilities at different patrol points. Subsequently, a patrol point filter is applied to remove points with low fire probabilities. Finally, combining fire probabilities with distances between patrol points, a dynamic programming (DP) algorithm is employed to generate an optimal UAV patrol route. Compared with conventional approaches, the experimental results demonstrate that the PPP module effectively improves the timeliness of fire monitoring and containment, and the introduction of DP, considering that the fire probabilities and the patrol point filter both contribute positively to the experimental outcomes. Different combinations of patrol point coordinates and their fire probabilities are further studied to summarize the applicability of this method, contributing to UAV applications in forest fire monitoring and prevention.