Real-time method of UAV path planning based on heuristic predictive window

In view of moving target and moving threat, in accordance to the real-time information of target and threat acquired by airborne detector, a real-time method of unmanned aerial vehicle (UAV) path planning based on heuristic predictive window is proposed. Estimating predictive window based on friend or enemy situation, the state of target and threat can be predicted by Kalman filtering. Objective function is established by using vector angle principle, which can evaluate threats and voyage costs and satisfy the UAV maneuvering constraints. By negative gradient descent online optimization, a series of UAV heading angle can be gotten, and the path planning is accomplished. The simulation results show that the method can pursuit moving target and avoid moving threat efficiently, which can realize real-time path planning for UAV.