Title :
Trajectory Planning for Multiple Autonomous Systems Using Mixed Integer Linear Programming
Author :
Ademoye, Taoridi A. ; Davari, Asad
Author_Institution :
WVU Inst. of Technol., Montgomery, AL
Abstract :
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
Keywords :
collision avoidance; integer programming; linear programming; mobile robots; telerobotics; collision avoidance; mixed-integer linear programming; multiple autonomous systems; obstacle avoidance; optimal trajectories; trajectory planning; Automotive engineering; Collision avoidance; Equations; Kinematics; Mixed integer linear programming; Mobile robots; Remotely operated vehicles; Trajectory; Unmanned aerial vehicles; Vehicle dynamics;
Conference_Titel :
System Theory, 2006. SSST '06. Proceeding of the Thirty-Eighth Southeastern Symposium on
Conference_Location :
Cookeville, TN
Print_ISBN :
0-7803-9457-7
DOI :
10.1109/SSST.2006.1619067
