Radial basis function-based vector field algorithm for wildfire boundary tracking with UAVs

Abstract

This paper tackles the problem of dynamic wildfire boundary tracking with UAVs. Wildfire boundary is treated as the zero-level set curve of an implicit function and is approximated with radial basis functions. Its propagation is modeled with the Hamilton–Jacobi equation with an arbitrary initial boundary as the input. To navigate UAVs to the wildfire boundary, an analytical velocity vector field, whose integral curves converge to the wildfire boundary, is constructed on the basis of the typical radial basis function thin-plate spline. Computer simulations with a single UAV and multiple UAVs have been conducted for the evaluation of the proposed solution, and numerical results show that the proposed algorithm can ensure the successful tracking of an arbitrarily shaped wildfire boundary.