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.