The Unmanned Aerial Vehicle technology, which was supported for the development of military technology in the early periods, has become one of the most challenging engineering research topics with the recent development of microcomputer, sensor and battery technology. The UAV field of application has been expanding relative to the increase in the capability and the feasibility of the UAV technology itself. For that reason, it is aimed to design the off-board linear model predictive control which leads the vehicle to have improved obstacle avoidance capability through the UAV path. According to goal of the project, the development of the UAV is followed from the beginning to the current stage in order to understand the role in the challenging engineering problems.