Potential Odor Intensity Grid Based UAV Path Planning Algorithm with Particle Swarm Optimization Approach

<div>Sample method for UAV path segment <svg height="18.2087pt" id="M69" style="vertical-align:-3.400701pt" version="1.1" viewbox="-0.0498162 -14.808 37.875 18.2087" width="37.875pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,-8.586)"><path d="M567 230V280H69V230H567Z" id="g117-149"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="636" vert-adv-y="636"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,1.845,-8.586)"><path d="M567 230V280H69V230H567Z" id="g117-149"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="636" vert-adv-y="636"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,7.239,-8.586)"><path d="M567 230V280H69V230H567Z" id="g117-149"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="636" vert-adv-y="636"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,12.632,-8.586)"><path d="M567 230V280H69V230H567Z" id="g117-149"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="636" vert-adv-y="636"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,18.026,-8.586)"><path d="M567 230V280H69V230H567Z" id="g117-149"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="636" vert-adv-y="636"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,23.42,-8.586)"><path d="M567 230V280H69V230H567Z" id="g117-149"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="636" vert-adv-y="636"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,25.296,-8.586)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z" id="g117-148"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="954" vert-adv-y="954"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M962 650H739L732 622L760 619C812 613 819 604 798 552C760 457 671 267 606 131H604L511 638H480L237 131H233L183 554C177 607 183 614 226 619L248 622L257 650H24L17 622C88 615 92 611 103 524L173 -11H203L450 491H453L543 -11H575L839 529C882 609 886 613 953 622L962 650Z" id="g113-88"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="974" vert-adv-y="974"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,10.777,3.132)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z" id="g50-106"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="280" vert-adv-y="280"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,13.833,0)"><path d="M962 650H739L732 622L760 619C812 613 819 604 798 552C760 457 671 267 606 131H604L511 638H480L237 131H233L183 554C177 607 183 614 226 619L248 622L257 650H24L17 622C88 615 92 611 103 524L173 -11H203L450 491H453L543 -11H575L839 529C882 609 886 613 953 622L962 650Z" id="g113-88"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="974" vert-adv-y="974"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,24.61,3.132)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z" id="g50-106"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="280" vert-adv-y="280"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,27.158,3.132)"><path d="M556 236V289H337V504H275V289H56V236H275V-4H337V236H556Z" id="g54-36"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="611" vert-adv-y="611"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,32.718,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg>.</div>

Mathematical Problems in Engineering

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Figure 3

Figure 3: Potential Odor Intensity Grid Based UAV Path Planning Algorithm with Particle Swarm Optimization Approach 