NDLI: Real Time Trajectory Planning for UAVs Using MILP

Content Provider	IEEE Xplore Digital Library
Author	Kamal, W.A. Da-Wei Gu Postlethwaite, I.
Copyright Year	2005
Description	Author affiliation: Control and Instrumentation Group, Department of Engineering, University of Leicester, Leicester, UK Email: wak5@le.ac.uk (Kamal, W.A.)
Abstract	A probabilistic finite receding horizon approach for trajectory planning of autonomous air vehicles is presented. The approach is based on mixed integer linear programming (MILP) techniques. The risk areas are modelled by dynamic boundaries to direct the vehicle towards the target. Various constraints are formulated to avoid radar zones and collisions, etc. These constraints are extended to be both hard and soft so as to alleviate the infeasibility problem usually encountered. The finite receding horizon approach is numerically stable and can be applied to centralized trajectory planning of a fleet of UAVs in real time. The MILP problem is solved using commercially available software AMPL/CPLEX. Finally the approach is applied to different scenarios with upper and lower bounds on the speed and acceleration of each UAV.
Starting Page	3381
Ending Page	3386
File Size	167284
Page Count	6
File Format	PDF
ISBN	0780395670
DOI	10.1109/CDC.2005.1582684
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-12-15
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	IEEE/EUCA
Subject Keyword	Trajectory Unmanned aerial vehicles Radar Remotely operated vehicles Mixed integer linear programming Vehicle dynamics Cost function Instruments Automotive engineering Mobile robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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