DocumentCode
1655808
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
fYear
2006
Firstpage
175
Lastpage
179
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/SSST.2006.1619067
Filename
1619067
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