The Mathematical Model and Heuristic Algorithm Framework for UAV-Based Patrol Path Planning

Due to the advantages of low cost, high efficiency, and fast response speed, patrol drones are increasingly being used in border patrol, maritime patrol, and urban patrol tasks. However, the models and algorithms used for patrol drone path planning have always been an unresolved problem. In response to this issue, this study designed a mathematical model for patrol tasks. In addition, based on the A* algorithm and Hippopotamus Optimization (HO) algorithm, this study designed a swarm intelligence algorithm framework. Finally, we validated the mathematical model and swarm intelligence algorithm proposed in this study through a simulated three-dimensional (3D) scene. On this basis, by comparing with different algorithms, the swarm intelligence algorithm framework designed in this study has been proven to have the best performance. In addition, we also summarized the future research directions and main challenges of patrol drones.