We will present a simple and efficient algorithm for solving the path planning problem for civil UAV operating in a dynamic or incomplete environment. This algorithm searches for a continuous waypoints sequence starting from the initial configuration, visiting all the desired locations and reaching the final position. We will present our proposed algorithm on two steps: The first produces a sorted location set. The second step generates an optimal path for the overall mission. The same algorithm constructs the initial path or re-plans a new one when changes occur to the configuration space. To prove the effectiveness of our proposed algorithm, we will provide computer simulations. A comparison of many results will show that this algorithm yields good experience performance over a wide variety of examples.

Since civil Unmanned Aerial Vehicles (UAVs) are expected to perform a wide rang of mission, the subject of designing an efficient control architecture for autonomous UAV is a very challenging problem. Several contributions had been done in order to implement an autonomous UAV. The key challenge of all these contributions is to develop the global strategy. Robotic control approaches could be classified into six categories: Deliberative, Reactive, Hybrid, Behavior, Hybrid Behavior and subsumption approach. In this paper, we will review the existing control architectures to extract the main features of civil UAVs. The definition, advantage and drawback of each architecture will be highlighted to finally provide a comparative study of the mentioned control approaches.

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