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Terrain-Informed UAV Path Planning for Mountain Search: A Slope-Based Probabilistic Approach.
Xi Wang1, Xing Wang1, Pengliang Zhao1
1The School of Information and Electrical Engineering, Hunan University of Science and Technology, Xiangtan 411100, China.
Sensors (Basel, Switzerland)
|January 10, 2026
Summary
This study introduces a Slope Probability Search (SPS) algorithm for locating missing persons in mountains using unmanned aerial vehicles (UAVs). The innovative algorithm significantly improves search efficiency and success rates in challenging terrains.
Area of Science:
- Robotics and Artificial Intelligence
- Search and Rescue Operations
- Geographic Information Systems
Background:
- Locating missing persons in complex mountain terrain presents significant challenges.
- Conventional search methods using unmanned aerial vehicles (UAVs) often rely on exhaustive coverage patterns, which can be inefficient.
- Dynamic behavior of missing persons complicates search efforts.
Purpose of the Study:
- To develop an innovative algorithm for enhancing the efficiency of locating dynamic missing persons in complex mountain terrain.
- To shift the UAV search paradigm from coverage patterns to intelligent, guided exploration.
- To provide a theoretical basis and practical framework for next-generation intelligent search and rescue systems.
Main Methods:
- Introduction of the Slope Probability Search (SPS) algorithm based on a modified A* framework.
- Construction of a dynamic global probability map linking terrain slope to missing person behavior.
- Design of three dynamic models for missing persons: Terrain Constrained, Path Following, and Random Walk.
- Utilization of a unique heuristic function for balancing exploitation and exploration.
Main Results:
- The SPS algorithm demonstrated a success rate of 88.9% in simulation experiments.
- Achieved an average search time substantially lower than conventional methods.
- Effectiveness shown even under severe constraints of limited search duration and sensor range.
Conclusions:
- The SPS algorithm offers a significant improvement in search efficiency for missing persons in complex terrains.
- The developed algorithm provides a practical framework for intelligent search and rescue systems.
- This research lays the groundwork for future advancements in autonomous search and rescue technologies.
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