Direct Entry Minimal Path UAV Loitering Path Planning

Fixed Wing Unmanned Aerial Vehicles (UAVs) performing Intelligence, Surveillance and Reconnaissance (ISR) typically fly over Areas of Interest (AOIs) to collect sensor data of the ground from the air. If needed, the traditional method of extending sensor collection time is to loiter or turn circularly around the center of an AOI. Current Autopilot systems on small UAVs can be limited in their feature set and typically follow a waypoint chain system that allows for loitering, but requires that the center of the AOI to be traversed which may produce unwanted turns outside of the AOI before entering the loiter. An investigation was performed to compare the current loitering techniques against two novel smart loitering methods. The first method investigated, Tangential Loitering Path Planner (TLPP), utilized paths tangential to the AOIs to enter and exit efficiently, eliminating unnecessary turns outside of the AOI. The second method, Least Distance Loitering Path Planner (LDLPP), utilized four unique flight maneuvers that reduce transit distances while eliminating unnecessary turns outside of the AOI present in the TLPP method. Simulation results concluded that the Smart Loitering Methods provide better AOI coverage during six mission scenarios. It was also determined that the LDLPP method spends less time in transit between AOIs. The reduction in required transit time could be used for surveying additional AOIs.