Implementation and Flight Test Results of MILP-based UAV Guidance

Author

Schouwenaars, Tom ; VALENTI, MARIO ; Feron, Eric ; How, Jonathan

Author_Institution

Lab. of Inf. & Decision Syst., Massachusetts Inst. of Technol., Cambridge, MA

fYear

2005

fDate

5-12 March 2005

Firstpage

1

Lastpage

13

Abstract

This paper discusses the implementation of a guidance system based on mixed integer linear programming (MILP) on a modified, autonomous T-33 aircraft equipped with Boeing´s UCAV avionics package. A receding horizon MILP formulation is presented for safe, real-time trajectory generation in a partially-known, cluttered environment. Safety at all times is guaranteed by constraining the intermediate trajectories to terminate in a loiter pattern that does not intersect with any no-fly zones and can always be used as a safe backup plan. Details about the real-time software implementation using CPLEX and Boeing´s OCP platform are given. A test scenario developed for the DARPA-sponsored software enabled control capstone demonstration is outlined, and simulation and flight test results are presented

Keywords

air safety; aircraft testing; avionics; integer programming; linear programming; remotely operated vehicles; Boeing OCP platform; Boeing UCAV avionics package; CPLEX; DARPA-sponsored software; MILP-based UAV guidance; autonomous T-33 aircraft; flight test results; mixed integer linear programming; no-fly zones; unmanned aerial vehicle; Aerospace control; Aerospace electronics; Aircraft; Laboratories; Mixed integer linear programming; Packaging; Software safety; Software testing; Trajectory; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Aerospace Conference, 2005 IEEE

Conference_Location

Big Sky, MT

Print_ISBN

0-7803-8870-4

Type

conf

DOI

10.1109/AERO.2005.1559600

Filename

1559600