Navigation of a Team of UAVs for Covert Video Sensing of a Target Moving on an Uneven Terrain

Abstract

Unmanned aerial vehicles (UAVs) have become essential tools with diverse applications across multiple sectors, including remote sensing. This paper presents a trajectory planning method for a team of UAVs aimed at enhancing covert video sensing in uneven terrains and urban environments. The approach establishes a feasible flight zone, which dynamically adjusts to accommodate line of sight (LoS) occlusions caused by elevated terrains and structures between the UAVs’ sensors and the target. By avoiding ‘shadows’—projections of realistic shapes on the UAVs’ operational plane that represent buildings and other obstacles—the method ensures continuous target visibility. This strategy optimizes UAV trajectories, maintaining covertness while adapting to the changing environment, thereby improving overall video sensing performance. The method’s effectiveness is validated through comprehensive MATLAB simulations at both single and multiple UAV levels, demonstrating its ability to prevent LoS occlusions while preserving a high level of camouflage.