Receding Horizon Control with Extended Solution for UAV Path Planning

Table 1

Dynamic obstacle environment.

Obstacle environment	Number	Centric position	Radius	Speed
Case 1	2	(75, 25); (95, 25)	7; 7	(-6.25, 4.5); (-6.25, 4.5)
Case 2	2	(100, 90); (70, 80)	8; 10	(-5, -5); (-8, -8)
Case 3	2	(90, 10); (10, 60)	10; 10	(-5, 5); (4, -4)