Pigeon-inspired Optimization Based Trajectory Planning Methodfor UAVs in a Complex Urban Environment

In this paper, a trajectory planning approach based on the principle of dynamie programming andframe work of pigeon inspired optimization( PIO) was proposed for UAV surveillance tasks. In this approachthe sensor visibility was firstly analyzed by considering the occ lusions caused by terrain feature, and the delee.table areas of the targets were approximated by a series of poly gons. To determine the optimal trackable path togons were replaced by with their centers firstly, which allowed tocover all target sites, the target visibility poly obtained an initial solution by optimizing the order of the targets to be visited. In the following step of the algorithm, a path refinement scheme combing dynamic programming and PIO was proposed to refine the initialconsidering t he sensor visibility and turning radius constraint of the UAV. Comparative simulationroute