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Receding horizon implementation of MILP for vehicle guidance | IEEE Conference Publication | IEEE Xplore

Receding horizon implementation of MILP for vehicle guidance


Abstract:

This paper presents MILP based techniques for trajectory optimization of unmanned aerial vehicles. To reduce the computation load associated with MILP optimization, a rec...Show More

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.
Date of Conference: 08-10 June 2005
Date Added to IEEE Xplore: 01 August 2005
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Conference Location: Portland, OR, USA

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