The article presents some important

The article presents some important innovations in mission planning for the short-range tactical class UAV systems. A complete framework of the route planning process for UAVs that are equipped with SAR systems is described. For each phase of the route planning process, methods supporting the development of necessary products are shown in detail. For example, for the route planning phase, a mathematical model was described in the form of a MILP task, the solution of which guarantees optimal routes for a given set of UAVs. In the section presenting results, the algorithms are used for only one UAV, so as not to complicate the considerations, but the model takes into account the operation of multiple UAVs. For the phase of determining the route segments over which the UAV must fly to recognize the target using SAR, a detailed algorithm has been presented, taking into account the parameters of the radar, including synthetic aperture. All calculations were conducted for the commercial SAR military system, which was used in the tests. When planning the route segments, the information obtained from digital maps (Digital Terrain Elevation Data grids) was also taken into account. Without DTED data, it is not possible to plan the correct UAV flight method for target recognition. The algorithm for determining Line of Sight is also presented in the article. All presented algorithms were classified according to the terminology introduced by Coutinhoa et al.