Intelligent UAV Map Generation and Discrete Path Planning for Search and Rescue Operations

<table class="fixed-width table-group" id="tab6"><tr><td><table class="table"><colgroup><col style="width:16.59em"/><col style="width:4.78em"/></colgroup><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">Creation distribution</td><td class="align_center">Uniform</td></tr><tr><td class="align_left">Maximum iterations</td><td class="align_center">4000</td></tr><tr><td class="align_left">Stall Iterations limit</td><td class="align_center">20</td></tr><tr><td class="align_left">Average relative change limit (TolFun)</td><td class="align_center">10<sup>−6</sup></td></tr><tr><td class="align_left">Swarm size</td><td class="align_center">100</td></tr><tr><td class="align_left">Inertia range</td><td class="align_center"><span style="width: 45.2613ptpx;"><svg height="11.439pt" id="M88" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 45.2613 11.439" width="45.2613pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z" id="g113-92"></path></g><g transform="matrix(.013,0,0,-0.013,4.485,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z" id="g113-49"></path></g><g transform="matrix(.013,0,0,-0.013,10.725,0)"><path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 114 103S58 78 58 46C58 11 82 -12 113 -12Z" id="g113-47"></path></g><g transform="matrix(.013,0,0,-0.013,13.689,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z" id="g113-50"></path></g><g transform="matrix(.013,0,0,-0.013,19.929,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z" id="g113-45"></path></g><g transform="matrix(.013,0,0,-0.013,25.072,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z" id="g113-50"></path></g><g transform="matrix(.013,0,0,-0.013,31.312,0)"><path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 114 103S58 78 58 46C58 11 82 -12 113 -12Z" id="g113-47"></path></g><g transform="matrix(.013,0,0,-0.013,34.276,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z" id="g113-50"></path></g><g transform="matrix(.013,0,0,-0.013,40.516,0)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z" id="g113-94"></path></g></svg></span></td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Complexity

tab6

Table 6

Table 6: Intelligent UAV Map Generation and Discrete Path Planning for Search and Rescue Operations 