UAV 3-D Path Planning with MILP Based on Tightening Constraint Algorithm

Jian Qiao Yu; Su Yu Li; Guan Chen Luo; Jin Long Wang

doi:10.1007/978-1-4419-8849-2_117

UAV 3-D Path Planning with MILP Based on Tightening Constraint Algorithm

Jian Qiao Yu^*, Su Yu Li, Guan Chen Luo, Jin Long Wang

^*此作品的通讯作者

宇航学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

This chapter introduces a tightening constraint algorithm combined with the model predictive control within mixed-integer linear programming framework to deal with unmanned rotorcraft path planning problem in a 3-D environment. The bounded-obstacle-boundary uncertainties and moving obstacle uncertainties are considered. The simulation results show the effectiveness and verification of the tightening constraint algorithm. In addition, the simulation also demonstrates that the computation burden has no relation with the environment complexity with this approach.

源语言	英语
主期刊名	2011 International Conference in Electrics, Communication and Automatic Control Proceedings
编辑	Ran Chen
出版商	Springer Science and Business Media Deutschland GmbH
页	925-930
页数	6
ISBN（印刷版）	9781441988485
DOI	https://doi.org/10.1007/978-1-4419-8849-2_117
出版状态	已出版 - 2012
活动	International Conference in Electrics, Communication and Automatic Control, ECAC 2011 - Chongqing, 中国期限: 23 6月 2011 → 24 6月 2011

出版系列

姓名	Lecture Notes in Electrical Engineering
卷	165 LNEE
ISSN（印刷版）	1876-1100
ISSN（电子版）	1876-1119

会议

会议	International Conference in Electrics, Communication and Automatic Control, ECAC 2011
国家/地区	中国
市	Chongqing
时期	23/06/11 → 24/06/11

访问文件

10.1007/978-1-4419-8849-2_117

其它文件与链接

链接到 Scopus 的出版物

引用此

Yu, J. Q., Li, S. Y., Luo, G. C., & Wang, J. L. (2012). UAV 3-D Path Planning with MILP Based on Tightening Constraint Algorithm. 在 R. Chen (编辑), 2011 International Conference in Electrics, Communication and Automatic Control Proceedings (页码 925-930). (Lecture Notes in Electrical Engineering; 卷 165 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-1-4419-8849-2_117

@inproceedings{a06c12cb521b47f9bdbc3fd0fb2b9387,

title = "UAV 3-D Path Planning with MILP Based on Tightening Constraint Algorithm",

abstract = "This chapter introduces a tightening constraint algorithm combined with the model predictive control within mixed-integer linear programming framework to deal with unmanned rotorcraft path planning problem in a 3-D environment. The bounded-obstacle-boundary uncertainties and moving obstacle uncertainties are considered. The simulation results show the effectiveness and verification of the tightening constraint algorithm. In addition, the simulation also demonstrates that the computation burden has no relation with the environment complexity with this approach.",

keywords = "Model predictive control, Path planning, Tightening constraint algorithm, Uncertainty, Unmanned aerial vehicle",

author = "Yu, {Jian Qiao} and Li, {Su Yu} and Luo, {Guan Chen} and Wang, {Jin Long}",

note = "Publisher Copyright: {\textcopyright} Springer Science+Business Media, LLC 2012.; International Conference in Electrics, Communication and Automatic Control, ECAC 2011 ; Conference date: 23-06-2011 Through 24-06-2011",

year = "2012",

doi = "10.1007/978-1-4419-8849-2_117",

language = "English",

isbn = "9781441988485",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "925--930",

editor = "Ran Chen",

booktitle = "2011 International Conference in Electrics, Communication and Automatic Control Proceedings",

address = "Germany",

}

Yu, JQ, Li, SY, Luo, GC & Wang, JL 2012, UAV 3-D Path Planning with MILP Based on Tightening Constraint Algorithm. 在 R Chen (编辑), 2011 International Conference in Electrics, Communication and Automatic Control Proceedings. Lecture Notes in Electrical Engineering, 卷 165 LNEE, Springer Science and Business Media Deutschland GmbH, 页码 925-930, International Conference in Electrics, Communication and Automatic Control, ECAC 2011, Chongqing, 中国, 23/06/11. https://doi.org/10.1007/978-1-4419-8849-2_117

UAV 3-D Path Planning with MILP Based on Tightening Constraint Algorithm. / Yu, Jian Qiao; Li, Su Yu; Luo, Guan Chen 等.
2011 International Conference in Electrics, Communication and Automatic Control Proceedings. 编辑 / Ran Chen. Springer Science and Business Media Deutschland GmbH, 2012. 页码 925-930 (Lecture Notes in Electrical Engineering; 卷 165 LNEE).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - UAV 3-D Path Planning with MILP Based on Tightening Constraint Algorithm

AU - Yu, Jian Qiao

AU - Li, Su Yu

AU - Luo, Guan Chen

AU - Wang, Jin Long

N1 - Publisher Copyright: © Springer Science+Business Media, LLC 2012.

PY - 2012

Y1 - 2012

N2 - This chapter introduces a tightening constraint algorithm combined with the model predictive control within mixed-integer linear programming framework to deal with unmanned rotorcraft path planning problem in a 3-D environment. The bounded-obstacle-boundary uncertainties and moving obstacle uncertainties are considered. The simulation results show the effectiveness and verification of the tightening constraint algorithm. In addition, the simulation also demonstrates that the computation burden has no relation with the environment complexity with this approach.

AB - This chapter introduces a tightening constraint algorithm combined with the model predictive control within mixed-integer linear programming framework to deal with unmanned rotorcraft path planning problem in a 3-D environment. The bounded-obstacle-boundary uncertainties and moving obstacle uncertainties are considered. The simulation results show the effectiveness and verification of the tightening constraint algorithm. In addition, the simulation also demonstrates that the computation burden has no relation with the environment complexity with this approach.

KW - Model predictive control

KW - Path planning

KW - Tightening constraint algorithm

KW - Uncertainty

KW - Unmanned aerial vehicle

UR - http://www.scopus.com/inward/record.url?scp=85139033196&partnerID=8YFLogxK

U2 - 10.1007/978-1-4419-8849-2_117

DO - 10.1007/978-1-4419-8849-2_117

M3 - Conference contribution

AN - SCOPUS:85139033196

SN - 9781441988485

T3 - Lecture Notes in Electrical Engineering

SP - 925

EP - 930

BT - 2011 International Conference in Electrics, Communication and Automatic Control Proceedings

A2 - Chen, Ran

PB - Springer Science and Business Media Deutschland GmbH

T2 - International Conference in Electrics, Communication and Automatic Control, ECAC 2011

Y2 - 23 June 2011 through 24 June 2011

ER -

Yu JQ, Li SY, Luo GC, Wang JL. UAV 3-D Path Planning with MILP Based on Tightening Constraint Algorithm. 在 Chen R, 编辑, 2011 International Conference in Electrics, Communication and Automatic Control Proceedings. Springer Science and Business Media Deutschland GmbH. 2012. 页码 925-930. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-1-4419-8849-2_117

UAV 3-D Path Planning with MILP Based on Tightening Constraint Algorithm

摘要

出版系列

会议

访问文件

其它文件与链接

指纹

引用此