中文说明：
(不错的一篇文章，已被EI收录)模型预测控制（model predictive control，MPC）路径规划算法适用于三维动态环境下的无人机（un-manned aerial vehicle，UAV）路径规划；动态贝叶斯网络（dynamic Bayesian network，DBN）能够有效推理战场态势，对无人机进行威胁评估。针对威胁尾随无人机时的路径规划问题，构建 DBN 威胁评估模型，将 UAV 在战场环境中的威胁态势用威胁等级概率表示，与 MPC 路径规划算法相结合，得到基于 DBN 威胁评估的 MPC UAV 路径规划算法。通过多组仿真分析表明，在三维动态环境下，特别是威胁尾随无人机时，基于 DBN 威胁评估的 MPC无人机路径规划算法可以得到有效的无人机路径。
English Description：
Model predictive control (MPC) path planning algorithm is suitable for UAV path planning in three-dimensional dynamic environment; dynamic Bayesian network (DBN) can effectively infer battlefield situation and evaluate UAV threat. Aiming at the problem of path planning when threat follows UAV, a DBN threat assessment model is constructed. The threat situation of UAV in battlefield environment is expressed by threat level probability. Combined with MPC path planning algorithm, the MPC UAV path planning algorithm based on DBN threat assessment is obtained. The simulation results show that the MPC UAV path planning algorithm based on DBN threat assessment can get an effective UAV path in the three-dimensional dynamic environment, especially when the threat is following the UAV.