Receding Horizon Control with Extended Solution for UAV Path Planning

Algorithm 1

Receding horizon control with extended solution.

Input: initialization , , time window , time step

Output: UAV flight path

1

2 while do

3

4 Eq.(5)

5 if do

6

7 else

8

9 Eq.(5)

10 Eq.(6)

11 Eq.(7)

12 directional variation

13

14

15 end if

16 The time window scrolls forward

17

18 Update UAV and environment information

19 end while

20

21 return