Real Time Path Planning of UAVs Using MILP
XI Qing-biao · Jisuanji fangzhen · 2009
A method is presented for the UAV's real-time path planning,it is MPC/RHC(Model Predictive Control/Receding Horizon Control) based on Mixed Integer Linear Programming(MILP) techniques.Transforming the constraints of risk areas,velocity,acceleration and collisions etc,into forms directly adapted to MILP,and using the approach of MPC/RHC,the real time requirement will be met.The risk areas avoidance is modelled by binary variables to make logical decisions.Various constraints are formulated to avoid risk zones and collisions,etc.These constraints are extended to be both hard and soft so as to alleviate the infeasibility problem usually encountered.At last,the simulation shows that this approach is effective.