Low observability path planning for an unmanned air vehicle using mixed integer linear programming

Abstract

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A probabilistic approach to optimal robust path planning with obstacles

“…Air Vehicles (UAVs) has received a great deal of attention in recent years [1] [2][3] [4]. UAVs need to be able to plan trajectories that take the aircraft from its current location to a goal, while avoiding obstacles.…”

Path Planning for UAVs Under Communication Constraints Using SPLAT! and MILP

“…In this context the following papers are particularly relevant: For a general introduction to mixed-integer programming for control, [18], [19] and [20] are recommended. In [21] MILP is used for UAV path planning, while constraining the probability of detection. In [22] the coordination and control of multiple UAVs are solved using MILP.…”

“…The optimization variable V approx pi is found in a similar manner as in [21], here extended to the three dimensional case, by introducing the constraints:…”

Motion- and Communication-Planning of Unmanned Aerial Vehicles in Delay Tolerant Network using Mixed-Integer Linear Programming

“…We approximate V pi in a similar manner as in Chaudhry et al (2004), here in the three-dimensional case as in Grøtli and Johansen (2012b), by introducing the constraints:…”

“…The accuracy of the approximation depends of course on the discretization level D vel (see Figure 4), but also on α vel , a constant slightly greater than one. The closer to one α vel is, the better is the approximation; however, taking it too close may have a negative impact on the computation time of the MILP problem, Chaudhry et al (2004). The constants M vel pkl should be chosen sufficiently large.…”