Three Dimensional Obstacle Avoidance Maneuver Planning using Mixed Integer Linear Programming

T.A. Ademoye, A. Davari, and W. Cao (USA)


Modeling, Constraints, Cost function, Optimization.


This paper extends the problem of finding time-optimal trajectories for an autonomous system or vehicle to three dimensions. An unmanned aerial vehicle is considered to be flying through a three dimensional surroundings with obstacles and/or no fly-zone. It is shown that this problem can be written as a linear program with mixed integer/ linear constraints that account for the collision avoidance. A major benefit of this approach is that the path optimization can be readily solved using the CPLEX optimization software with an AMPL interface.

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