Title :
Three-Dimensional Flight Experiments Using On-Line Mixed-Integer Linear Programming Trajectory Optimization
Author :
Culligan, Kieran ; VALENTI, MARIO ; Kuwata, Yoshiaki ; How, Jonathan P.
Author_Institution :
Dept. of Aeronaut. & Astronaut., Massachusetts Inst. of Technol., Cambridge, MA
Abstract :
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.
Keywords :
aircraft testing; integer programming; interpolation; linear programming; path planning; remotely operated vehicles; linear interpolation point; multivehicle test; online mixed-integer linear programming trajectory optimization; online path planner formulation; receding horizon minimization problem; three-dimensional flight testing; unmanned aerial vehicle; Aerospace simulation; Cities and towns; Computational complexity; Constraint optimization; Design optimization; Interpolation; Linear programming; Testing; Trajectory; Unmanned aerial vehicles;
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2007.4283101