Abstract:

The model predictive control （MPC） path planning algorithm can solve the problem of dynamic unmanned aerial vehicle (UAV) path planning. Dynamic Bayesian network （DBN） is an effective tool for reasoning and threat assessment. Considering the problem of path planning when the dynamic threat tags the UAV, the MPC path planning algorithm combined with DBN threat assessment is presented, which used the threat lever probability to describe the threat situation. A group of simulations demonstrate the efficiency of MPC threedimensional dynamic path planning algorithm for UAV based on DBN threat assessment especially when the dynamic threat tags the UAV.