Title :
Receding horizon implementation of MILP for vehicle guidance
Author :
Kuwata, Yoshiaki ; How, Jonathan
Author_Institution :
Dept. of Aeronaut. & Astronaut., MIT, Cambridge, MA, USA
Abstract :
This paper presents MILP based techniques for trajectory optimization of unmanned aerial vehicles. To reduce the computation load associated with MILP optimization, a receding horizon controller has been developed. The combination of coarse cost map and detailed short trajectory significantly reduces the size of the MILP optimization. Several extensions that further reduce computation time and expand the capabilities of RH-MILP are presented.
Keywords :
aircraft control; integer programming; linear programming; position control; predictive control; remotely operated vehicles; MILP; mixed integer linear programming; receding horizon controller; receding horizon implementation; trajectory optimization; unmanned aerial vehicles; vehicle guidance; Acceleration; Aerodynamics; Aircraft; Cost function; Design optimization; Navigation; Phase estimation; Trajectory; Vehicle dynamics; Velocity control;
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2005.1470373
