This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with the shortest path while subjecting to the observation quality constraint. The objects have their own facing direction and restricted observation range. With an observing order, the algorithm achieves $(1+\epsilon)$-approximation ratio in theory and runs in polynomial time. The extensive results demonstrate that the algorithm produces near-optimal solutions, the effectiveness of which is also tested and proved in the Airsim simulator, a realistic virtual environment.

翻译：本文研究一种无人机路径规划任务，该任务要求在满足观测质量约束的前提下对一组目标进行观测。我们提出了一种动态规划算法，使无人机能够在满足观测质量约束的条件下以最短路径观测目标物体。目标物体具有自身的朝向和受限的观测范围。在给定观测顺序的情况下，该算法在理论上达到$(1+\epsilon)$近似比，并在多项式时间内运行。大量实验结果表明，该算法能产生接近最优的解，其有效性也在高保真虚拟环境Airsim仿真器中得到了验证。