Path Planning Via CPLEX Optimization

Author

Ademoye, Taoridi A. ; Davari, Asad ; Castello, Charles C. ; Fan, Sharon ; Fan, Jeffrey

Author_Institution

West Virginia Univ. Inst. of Technol., Montgomery

fYear

2008

fDate

16-18 March 2008

Firstpage

92

Lastpage

96

Abstract

This paper presents an optimized solution of finding time-optimal trajectories for autonomous systems. These systems are subject to avoidance requirements, which include avoidance of collisions with other systems and obstacles, either static or dynamic. The necessary constraints for avoidance are added to a time-optimizing linear program by including a binary variable in the optimization. The resulting problem is a mixed-integer linear program (MILP). This will be solved using AMPL mathematical programming language in conjunction with CPLEX optimization software.

Keywords

collision avoidance; integer programming; linear programming; mobile robots; AMPL mathematical programming language; CPLEX optimization; autonomous system; avoidance requirement; collision avoidance; mixed-integer linear program; path planning; time-optimal trajectory; time-optimizing linear program; Acceleration; Communication system security; Constraint optimization; Cost function; Equations; Path planning; Trajectory; Transmission line matrix methods; Unmanned aerial vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, 2008. SSST 2008. 40th Southeastern Symposium on

Conference_Location

New Orleans, LA

ISSN

0094-2898

Print_ISBN

978-1-4244-1806-0

Electronic_ISBN

0094-2898

Type

conf

DOI

10.1109/SSST.2008.4480197

Filename

4480197