Path-Finding Algorithm for Ground Multiple Sensor Nodes Detection of Quad-rotor-typed UAV

Quad-rotor-typed UAV can perform multiple targets detection effectively by its controllability and agility. In this study, the ground multiple targets detection with stochastic distances between the different targets is considered. A target position is described as a two-dimensional coordinate. The all positions´ coordinates and the start-point coordinate of UAV are the sources of the algorithm. After some calculating, the algorithm should direct the UAV fly over all targets with the shortest flight line. The algorithm produces an anticipated flight plan based on genetic algorithm, and considered the characteristics of quadrotor. It has a high performance in environment with few interference factors and can be used in a quad-rotor-typed UAV without GPS or any other polarizing means.