Scheduled System Maintenance:
On Monday, April 27th, IEEE Xplore will undergo scheduled maintenance from 1:00 PM - 3:00 PM ET (17:00 - 19:00 UTC). No interruption in service is anticipated.
By Topic

Three-Dimensional Flight Experiments Using On-Line Mixed-Integer Linear Programming Trajectory Optimization

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Culligan, K. ; Dept. of Aeronaut. & Astronaut., Massachusetts Inst. of Technol., Cambridge, MA ; Valenti, M. ; Kuwata, Y. ; How, J.P.

This paper presents an improved path planner formulation using mixed-integer linear programming (MILP) to solve a receding horizon optimization problem in real-time for unmanned aerial vehicles (UAVs). This paper uses variable sized time-steps with linear interpolation points and horizon minimization techniques to enhance the capability of the online path planner. Flight tests on an unique indoor quadrotor testbed demonstrate that MILP can be reliably used in real-time. A multi-vehicle test is also presented to demonstrate non-communicating de-confliction trajectory planning using MILP.

Published in:

American Control Conference, 2007. ACC '07

Date of Conference:

9-13 July 2007