The receding horizon control (RHC) greatly reduces the planning time and achieves great success in UAV online path planning because of rolling window optimization. However. due to its small range of path search in the time window. UAVs cannot cope with environments with uncertain obstacles and multiple flight constraints. https://www.alarecre.com/NFL-Atlanta-Falcons-Double-Vision-iPhone-13-Pro-MagSafe-Case-p92343/