Path Planning Via CPLEX Optimization

This paper presents an optimized solution of finding time-optimal trajectories for autonomous systems. These systems are subject to avoidance requirements, which include avoidance of collisions with other systems and obstacles, either static or dynamic. The necessary constraints for avoidance are added to a time-optimizing linear program by including a binary variable in the optimization. The resulting problem is a mixed-integer linear program (MILP). This will be solved using AMPL mathematical programming language in conjunction with CPLEX optimization software.