MPC and TGFC for UAV real-time route planning

This paper proposed a method of real-time route planning for UAV based on model predictive control (MPC) and threat gain fuzzy controller (TGFC). First the model of three-dimensional route planning of UAV was built by MPC, including complex constraints. Then the TGFC was designed based on fuzzy control theory, in order to make UAV escape from the sudden threat quickly. Finally the route was calculated by differential evolution algorithm. The simulations showed that the method could make a good performance of real-time, and it could enable UAV achieve the goal of terrain following and threat avoidance(TF/TA2).