Dynamic risk uncertainties by cooperative sites in path planning of UAVs

This paper aims at formulation of simple decision maker for path planning of UAVs through the sites of risk uncertainties. The decision maker provides the path planner in finding right fly-through way-point to minimize the risk. The risk level at each site is modelled as a dynamic system. The dynamics are caused by uncertainties to the normal risk level at each site. The uncertainties are contributed by: (i) origin of disturbance, and its spread to other sites through (ii) distance, and (iii) level of cooperation between the sites, and (iv) impact of disturbances on other sites. A decision maker based on Bayesian rule is used to find an intermediate fly-through way-point by minimizing the associated with each site. As an initial phase the dynamic risk uncertainties are generated by cooperative sites in path planning of UAVs.