Patent ID: 9508263
Filing Date: 2016-11-29
CPC Classification: B64C,G05D,G08G

Claim Text:
1. A computer-implemented method comprising: identifying a mission boundary defining a UAV flight area from a prohibited UAV flight area, the mission boundary encompassing a target site for capturing a plurality of aerial images by a UAV; generating, by at least one processor, flight legs within the UAV flight area and excluding the prohibited flight area, the flight legs being separated by a leg spacing based on one or more characteristics of the UAV, and each flight leg intersecting the mission boundary at two endpoints; identifying flight vertices, the flight vertices comprising corners of the mission boundary and the endpoints for each of the flight legs; building, by the at least one processor, a flight path within the UAV flight area and avoiding the prohibited UAV flight area by combining the flight legs utilizing the flight vertices, wherein the flight path does not extend beyond the mission boundary; and generating a mission plan based on the flight path, the mission plan comprising computer-executable instructions for causing the UAV to capture aerial images of the target site in accordance with the flight path without entering the prohibited flight area.