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Trajectory Planning for Multiple Autonomous Systems Using Mixed Integer Linear Programming

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2 Author(s)
T. A. Ademoye ; WVU Inst. of Technol., Montgomery, AL ; A. Davari

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

Published in:

2006 Proceeding of the Thirty-Eighth Southeastern Symposium on System Theory

Date of Conference:

5-7 March 2006