Real-time Optimal Trajectory Planning with Terrain Avoidance Using MILP

摘要：

This paper presents an ef.cient approach to realtime trajectory planing for an autonomous aerial vehicle with terrain avoidance constraints. The trajectory optimization problem is formulated as receding horizon mixed-integer linear programming (MILP). The paper considers the case that only the terrain environment within the detection radius around the vehicle is known and modeled as a triangulated irregular network (TIN). The terrain avoidance constraint is represented in MILP form by introducing binary variables. The trajectory obtained is optimal in term of fuel, time, altitude, etc. The algorithm is applied to a small-scale helicopter with an example scenario and the simulation result shows it is applicable to online computation for real-time implementation through the use of powerful MILP solver of CPLEX.

作者: Zhang Shengxiang Pei Hailong

作者单位: College of Automation Science and Engineering South China University of Technology Guangzhou,China

会议类型: 国际会议

会议名称: The 2nd International Symposium on Systems and Control in Aeronautics and Astronautics(第二届航空航天系统与控制国际会议 ISSCAA 2008)

会议地点: 深圳

会议语种:英文

页码: 1035-1039

在线出版日期: 2008-12-10（万方平台首次上网日期，不代表论文的发表时间）