摘要
This work examines a UAV-enabled surveillance mission over multiple restricted regions and aims to determine the optimal UAV trajectory that minimizes the mission completion time. The UAV is prohibited from entering the restricted regions due to government regulations or adversarial concerns. However, during the surveillance of a region, the UAV can move along the region&null boundary to reduce its distance to the next region once the local task is completed. To exploit this advantage, we propose a minimum completion time (MinTime) algorithm that first determines the visiting order of the regions by employing an approximate solution of the traveling salesman problem (TSP) and then optimizes the UAV trajectory over the sequence of restricted regions using dynamic programming. In the presence of obstacles, we further propose an obstacle-aware MinTime (OA-MinTime) algorithm that treats each obstacle as an additional restricted region with zero surveillance duration, allowing the UAV to avoid the obstacles in a more efficient manner. A modified TSP solution is also proposed by taking into consideration the additional distance required to circumvent the obstacles on each inter-POI path. Simulation results show that the proposed MinTime and OA-MinTime algorithms can significantly reduce the total completion time compared to conventional minimum-distance approaches.