Algorithm 2 Trajectory planning using Fast Marching Square

functionGenerate_new_mission($dronePos$, $depotPos$, $Warray$) 2:  if New outbound mission then         $Initial point$←$depotPos$ 4:        $Final point$← Randomly chosen point of free space     else 6:        $Initial point$←$dronePos$         $Final point$←$depotPos$ 8:    end if     Assign flight level according to flight direction 10:  W← Viscosity map from $Warray$ according to flight level   Determine intermediate point at depot and flight level height 12:  if New outbound mission then         Calculate takeoff stage of the trajectory using FM2 and W 14:        Calculate the rest of the trajectory to goal point using FM2 and W   else 16:        Calculate landing stage of the trajectory using FM2 and W         Calculate the rest of the trajectory to depot using FM2 and W 18:  end if   $path$← Composition of the complete trajectory 20:  return $path$ end function