Simulation of dynamic path planning for UAV in 4D space

In the simulation platform of mission/path planning for an Unmanned Aerial Vehicle (UAV), a Four-Dimension (4D) path planning system in complex environment was proposed. The algorithm Model Predictive Control (MPC) was applied in the dynamic path planning, via controlling the angle and the speed during the flight, to avoid the threat of terrains and radar, as well as to fulfill the requirement of the scheduled arriving time to the target or the target under pop-up mission. Based on the platform and the algorithm, some simulations tests were carried out. The results show that the position and the time of the target are approached closely, which gives the platform and the algorithm the rationality and the validity.