A Path-Planning Algorithm for UAV Position-Estimation Systems at Disaster Sites

Recently, unmanned aerial vehicles (UAVs) have shown themselves promising in various applications at disaster sites because they can move through the sites easily and are not hindered by topography. The purpose of our study is to develop a path-planning algorithm for the position-estimation systems of UAVs to search for survivors. To achieve this aim, this study clarifies the basic characteristics of the algorithm in a real environment. In this study, we considered the necessary conditions for a UAV's path-planning algorithm, proposed an algorithm based on probe request information, and evaluated the algorithm in a real environment under various conditions. We showed that the algorithm was suitable for approaching a target object and demonstrated the potential of the proposed algorithm to search for survivors at disaster sites.