UAV Path Planning using MILP with Experiments
Anders Albert, Frederik Stendahl Leira, Lars Imsland · Modeling Identification and Control A Norwegian Research Bulletin · 2017
In this paper, we look at the problem of tracking icebergs using multiple Unmanned Aerial Vehicles (UAVs).Our solutions use combinatorial optimization for UAV path planning by formulating a mixed integer linear programing (MILP) optimization problem.To demonstrate the approach, we present both a simulation and a practical experiment.The simulation demonstrates the possibilities of the MILP algorithm by constructing a case where three UAVs help a boat make a safe passage through an area with icebergs.Furthermore, we compare the performance of three against a single UAV.In the practical experiment, we take the first step towards full-scale experiments.We run the algorithm on a ground station and use it to set the path for a UAV tracking five simulated icebergs.