An approach to the uav path planning problem in the internet of drones considering uncertainties

In recent years, the use of drones has become more common for different practical applications, such as goods delivery, area monitoring, image capture and traffic management. For these applications to be possible, it is necessary that the drones use the same airspace, constituting the Internet of Drones (IoD). Considering that IoD is a complex network, different challenges and problems involving this architecture still need to be studied. One of the challenges in IoD is the Unmanned Aerial Vehicles (UAV) Path Planning (PP) problem so that they arrive at their destinations safely, fulfilling their assigned tasks. In this paper, we deal with the UAV path planning problem offline in the IoD considering uncertainties, which are modeled using fuzzy numbers (PP-IoD fuzzy problem). As a resolution method we used the Dijkstra and Ford Moore Bellman algorithms adapted for the case where there are fuzzy parameters. Comparisons with the classical version of Ford-Moore-Bellman algorithm were performed and demonstrate the effectiveness and accuracy of the solutions obtained through fuzzy versions of two classic and well-known algorithms.