2P1-L02 Three Dimensional Trajectory Planning and Flight Control for Multiple Vehicles Using Mixed Integer Linear Programming(Cooperation Control of Multi Robots)
Takuya NEMOTO, Daigo FUJIWARA, Kenzo NONAMI · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2012
In recent years ,unmanned aerial vehicles(UAVs) play various roles by the progress of the flight control technologies. And missions such as information-gathering and aerial photography can be performed by UAVs, in stead of manned aircrafts. The missions of this kind are achieved by the UAVs equipped with remotely-controlled cameras flying specified routes. For the missions described above, the automatic navigation technologies including the automatic trajectory generation are essential for the UAVs to avoid obstacles and other UAVs automatically. In this paper the three dimensional trajectory generation techniques are introduced, using the mixed integer linear programming(MILP) taking the obstacle avoidance and the conflict resolution of other UAVs into account.