“UAV Path Planning using MILP with Experiments”

Authors: Anders Albert, Frederik S. Leira and Lars Imsland,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 2017, Vol 38, No 1, pp. 21-32.

Keywords: UAV, Path Planning, Mathematical Optimization

Abstract: In this paper, we look at the problem of tracking icebergs using multiple Unmanned Aerial Vehicles (UAVs). Our solutions use combinatorial optimization for UAV path planning by formulating a mixed integer linear programing (MILP) optimization problem. To demonstrate the approach, we present both a simulation and a practical experiment. The simulation demonstrates the possibilities of the MILP algorithm by constructing a case where three UAVs help a boat make a safe passage through an area with icebergs. Furthermore, we compare the performance of three against a single UAV. In the practical experiment, we take the first step towards full-scale experiments. We run the algorithm on a ground station and use it to set the path for a UAV tracking five simulated icebergs.

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  title={{UAV Path Planning using MILP with Experiments}},
  author={Albert, Anders and Leira, Frederik S. and Imsland, Lars},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}