UAV Path Planning for Visual Reconnaissance

For a fixed-wing aircraft with bounded turning radius, find a shortest closed path which visits at least one point in each of a set of volumes. Each volume corresponds to the set of points in airspace from which the aircraft can adequately photograph a site of interest. For example, in the case of search & rescue, sites of interest may be a missing aircraft's potential crash sites identified in low-resolution satellite imagery.

Use a genetic algorithm as described [ here ]. The videos below show the best solution in a population as it evolves over 500 generations.