The aim of the paper is to investigate path planning of an unmanned aerial vehicle with consideration of game theory. The benefit of this method is lack of detection and finding the optimum trajectory between terrains. Hence, by defining the permissible flight bands, and combining the kinematic and dynamic equation with wind gusts in the optimal control variables, the air vehicles can path through the terrain in minimum time and altitude. However, in final, two agents were considered by defining new cost function as a game theory. The results illustrated the combination of kinematic and dynamic were promising and the new cost function in two agents; optimal control has a good effect on tracking the agents in terrain.

Keywords : aerial vehicle, game theory, multi-agents, path planning, terrain mapping