UAV mission planning interface development with trajectory optimization algorithm
Cristian Vidan, Răzvan-Viorel Mihai, Cristina-Loredana Sava, Ovidiu TABAN, Florin Catargiu · AIP conference proceedings · 2019
In this paper is presented a concept of IMPI (Intelligent Mission Planning Interface) which besides the basic functions of any GCS also is presented an obstacle collision avoidance function without human intervention. IMPI is based on three main functions: mission post-flight analysis, mission planning, real time monitoring and autopilot calibration and static obstacle collision avoidance. Therefore, the obstacle avoidance problem is perceived as a Mixed Integer Linear Programming (MILP) based on a Receding Horizon approach. This implies to consider the time division of the overall mission flight duration into intermediate, fixed or variable time slots, for which UAV states are measured and control input commands are derived. For this was used a quadcopter having on board a proprietary autopilot and on which we performed MATLAB simulations that reveals the fact that the obstacle collision avoidance was assured, making us consider moving to the next stage, namely practical implementation.