Reconnaissance Path Planning for UAV

Three typical kinds of reconnaissance missions for UARV,including dot,line and region,were analyzed. Considering the characteristic of detecting sensor,the concept of reconnaissance-corridor was put forward for the line reconnaissance mission.The path of dot and line reconnaissance missions was planned by A~* algorithm with improving heuristic function.The blind-section problem caused by the swerve radius was solved.For the complex region with forbidden-flight areas reconnaissance mission,the region was divided into several sub-regions without forbidden-flight area. The order of the sub-region search can be obtained by depth-first-search algorithm.On the base of exhaustive reconnaissance, the sub-regional traversal was used to realize the religion coverage.Simulation results are presented which prove that the algorithms are reasonable and efficient.