Occlusion-aware uav path planning for reconnaissance and surveillance

Jian Zhang, Hailong Huang

Research output: Journal article publicationJournal articleAcademic researchpeer-review

3 Citations (Scopus)


Unmanned Aerial Vehicles (UAVs) have become necessary tools for a wide range of activi-ties including but not limited to real-time monitoring, surveillance, reconnaissance, border patrol, search and rescue, civilian, scientific and military missions, etc. Their advantage is unprecedented and irreplaceable, especially in environments dangerous to humans, for example, in radiation or pollution-exposed areas. Two path-planning algorithms for reconnaissance and surveillance are proposed in this paper, which ensures every point on the target ground area can be seen at least once in a complete surveillance circle. Moreover, the geometrically complex environments with occlusions are considered in our research. Compared with many existing methods, we decompose this problem into a waypoint-determination problem and an instance of the traveling-salesman problem.

Original languageEnglish
Article number98
Issue number3
Publication statusPublished - 15 Sep 2021


  • Aerial surveillance
  • Coverage path planning
  • Path planning
  • Terrain coverage
  • UAVs

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Aerospace Engineering
  • Computer Science Applications
  • Artificial Intelligence

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