On-line UAV route replanning based on model arithmetic control

A MAC (model arithmetic control)-based method is proposed in this paper for on-line UAV route replanning. By comparing error between real output and predicted output using this method, system control input is calculated and route replanning result is worked out by inputting these control variables. Various route replanning results are compared with each other in order to find out how these changing model parameters can affect control performance of this method. Comparing this method with previous replanning method, it can be used in real-time route replanning effectively, avoid occupying lots of system resources and work out a better trajectory. This paper also discusses how to present threat. Finally, contain line method, which is used to check whether route between two points goes through threats, and a route refine method is discussed.