A Kansas City man has been charged with fatally shooting a woman as she rode on an all-terrain vehicle.

Prosecutors announced Monday that 38-year-old Glenn Darren Rucker is charged with second-degree murder and armed criminal action in the July 1 shooting of 41-year-old Sharon Heifner-Douglas.

The Kansas City Star reports that witnesses told police she was riding the ATV with her dog walking alongside her in the grass when a sport utility vehicle pulled up and fired several shots at her at East Red Bridge Road and Bennington Avenue, west of the Ruskin Heights area.

Witnesses said they did not hear or see any conflict between anyone in the vehicle and Heifner-Douglas.

Rucker was a passenger in a vehicle at a car wash at 43rd and Prospect when police observed him on July 7. He was taken into custody on an outstanding warrant.

Rucker was being held in federal custody. Bond was set at $150,000.