Trajectory Planning for Multiple Autonomous Systems Using Mixed Integer Linear Programming
Taoridi Ademoye, A. Davari · 2006
This paper addresses the problem of finding optimal trajectories for multiple autonomous systems. Mixed integer linear programming (MILP) is described for designing time and energy- or fuel-optimal maneuvers that account for the presence of other vehicles. The paper shows how integer constraints can be added to linear programming to account for obstacle avoidance and collision avoidance among the group of autonomous systems