Exploring further UAV on-line path planning in the presence of threat netting

Aim. The introduction of the full paper reviews a few papers in the open literature and then, in its fourth paragraph, outlines our further exploration, which is explained in sections 1 through 4. Section 1 is entitled threat netting; its core is that we treat a fire unit as threat and analyze the influence of threat netting on the radar scanning area of the fire unit and its kill area and the effects of threat netting on on-line path planning. Section 3 is entitled threat netting model; its core consists of: (1) we propose the target instruction probability suitable for threat netting; (2) we establish a simplified threat netting model based on UAV's probability of detecting threats. Section 4 is entitled threat cost model; its core consists of: (1) we define the time needed for a radar to track UAV as the threat time window according to the radar response time and missile flyout time; (2) we use the maximum minimization concept in Ref. 8 to derive the threat cost objective function, which is given in eq. (11). Section 5 uses the model predictive control (MPC) algorithm to simulate the effects of threat netting on the on-line path planning of UAV; the simulation results, given in Figs. 2 through 6, and their analysis show preliminarily that our on-line path planning in the presence of threat netting can help UAV dodge threats and reduce its kill probability, thus being more effective and reasonable than other methods.