There is an ongoing research about highly reliable Unmanned Air Vehicles (UAVs) in the Systems and Control Laboratory of the Institute for Computer Science and Control, Hungarian Academy of Sciences. A path planning method, which allows the aircraft to sense an area, is often needed. This sensing can be done by making photos, videos or using other kind of sensors.
The aim of this document is to present the design method and operation of a new path planner software. This software is able to generate certain waypoints for Unmanned Air Vehicles in order to sense an area, which was given by the user. There are no limitations of the shape and size of the area. Wind disturbance can also be used for finding an optimal path. The planned path can be either the shortest or the most energy efficient. It is also important to guarantee the robustness of the path. This document includes a method for changing the waypoints of a UAV during the flight. Lastly, hardware in the loop (HIL) simulation is presented.