Proactive-Reactive Approach to Disruption-Driven UAV Routing Problem

The dynamics of the environment in which UAV missions are carried out forces the need to predict situations threatening their planned implementation. A study of the literature on the subject shows a gap related to the work dedicated to modelling and planning the mission of the UAV fleet, taking into account the impact of the environment on its course. The dynamics of environmental changes caused by variable weather conditions (change in wind direction and its intensity, the temperature and humidity, turbulence occurrence etc.), as well as order changes, emphasizes the growing importance of proactive planning methods, and in particular, due to the ad hoc occurrence of unforeseen sudden events, including the possibility of moving obstacles (e.g., bird migrations), and also reactive planning. In order to fill this gap, a new extension of the well-known VRP class, with a new so-called DMVRP, has been proposed. On the basis of a model that takes into account the impact of some of the previously mentioned disruptions, a method of proactive-reactive planning of UAVs missions was developed. Computer experiments indicate the possibilities of its use online for situations occurring in practice, including those caused by ecological disasters.