DocumentCode
439101
Title
Receding horizon implementation of MILP for vehicle guidance
Author
Kuwata, Yoshiaki ; How, Jonathan
Author_Institution
Dept. of Aeronaut. & Astronaut., MIT, Cambridge, MA, USA
fYear
2005
fDate
8-10 June 2005
Firstpage
2684
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2005. Proceedings of the 2005
ISSN
0743-1619
Print_ISBN
0-7803-9098-9
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2005.1470373
Filename
1470373
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