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

^*Corresponding author for this work

School of Aerospace Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	2011 International Conference in Electrics, Communication and Automatic Control Proceedings
Editors	Ran Chen
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	925-930
Number of pages	6
ISBN (Print)	9781441988485
DOIs	https://doi.org/10.1007/978-1-4419-8849-2_117
Publication status	Published - 2012
Event	International Conference in Electrics, Communication and Automatic Control, ECAC 2011 - Chongqing, China Duration: 23 Jun 2011 → 24 Jun 2011

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	165 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	International Conference in Electrics, Communication and Automatic Control, ECAC 2011
Country/Territory	China
City	Chongqing
Period	23/06/11 → 24/06/11

Keywords

Model predictive control
Path planning
Tightening constraint algorithm
Uncertainty
Unmanned aerial vehicle

Access to Document

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

Cite this

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. In R. Chen (Ed.), 2011 International Conference in Electrics, Communication and Automatic Control Proceedings (pp. 925-930). (Lecture Notes in Electrical Engineering; Vol. 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. in R Chen (ed.), 2011 International Conference in Electrics, Communication and Automatic Control Proceedings. Lecture Notes in Electrical Engineering, vol. 165 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 925-930, International Conference in Electrics, Communication and Automatic Control, ECAC 2011, Chongqing, China, 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 et al.
2011 International Conference in Electrics, Communication and Automatic Control Proceedings. ed. / Ran Chen. Springer Science and Business Media Deutschland GmbH, 2012. p. 925-930 (Lecture Notes in Electrical Engineering; Vol. 165 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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 -

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

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this