Sampling-Based Roadmap Methods for a Visual Reconnaissance UAV ∗

  title={Sampling-Based Roadmap Methods for a Visual Reconnaissance UAV ∗},
  author={Karl J. Obermeyer and Paul Oberlin and Swaroop Darbha},
This article considers a path planning problem for a single fixed-wing aircraft performing a reconnaissance mission using EO (Electro-Optical) camera(s). A mathematical formulation of the general aircraft visual reconnaissance problem for static ground targets in terrain is given and it is shown, under simplifying assumptions, that it can be reduced to what we call the PVDTSP (Polygon-Visiting Dubins Traveling Salesman Problem), a variation of the famous TSP (Traveling Salesman Problem). Two… CONTINUE READING
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