MILP and Its Application in Flight Path Planning
| Authors: | Kamal Waseem, University of Leicester, United Kingdom
Gu Da-Wei, University of Leicester, United Kingdom
Postlethwaite Ian, University of Leicester, United Kingdom |
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| Topic: | 7.5 Intelligent Autonomous Vehicles |
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| Session: | Vehicle Motion Planning |
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| Keywords: | UAV, autonomy, flight path planning, MILP, finite receding horizon |
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Abstract
A finite receding horizon approach for path planning ofuninhabited air vehicles (UAVs) is presented. The approach isbased on mixed integer linear programming (MILP) techniques.Various constraints are formulated to avoid obstacles andcollisions, etc. These constraints are extended to be both hardand soft so as to alleviate the infeasibility problem usuallyencountered. The finite receding horizon approach is numericallystable and can be applied to the path planning of a fleet of UAVs.Further improvements are possible for use in real time planning.The MILP is solved using commercially available softwareAMPL/CPLEX.
