Proceedings of the ... American Control Conference/Proceedings of the American Control Conference · 2007 · 33 citations · 10 references
EngineeringAerospace EngineeringRobotics EngineeringAerial RoboticsOptimizationPath PlanningFlight Path OptimizationInteger ProgrammingLinear ProgrammingOptimal ControlTrajectory GenerationTrajectory OptimizationFlight Path PlanningFlight PlanningInterpolation PointsLinear InterpolationMixed-integer Linear ProgrammingMixed-integer ProgrammingReal-time Trajectory PlanningTrajectory Planning
This paper presents an improved path planner formulation using mixed-integer linear programming (MILP) to solve a receding horizon optimization problem in real-time for unmanned aerial vehicles (UAVs). This paper uses variable sized time-steps with linear interpolation points and horizon minimization techniques to enhance the capability of the online path planner. Flight tests on an unique indoor quadrotor testbed demonstrate that MILP can be reliably used in real-time. A multi-vehicle test is also presented to demonstrate non-communicating de-confliction trajectory planning using MILP.
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Mixed integer programming for multi-vehicle path planning
Tom Schouwenaars, Bart De Moor, Éric Féron et al. · 2001 · 566 citations