Mixed-integer linear programming collision avoidance method in unmanned aerial vehicles trajectory planning

Unmanned aerial vehicles (UAV) are widely used today. The investigation of optimal methods of collision avoidance will allow decreasing the probability of conflicts between UAVs and maintain the required safety level. The mixed-integer linear programming method is quite simple and useful for this purpose. It can be easily implemented not only in UAVs, but also in new systems of collision avoidance.

LIST OF ACRONYMS…………………………………………………………..….5
INTRODUCTION………………………………………………………..………….6
PROBLEM FORMULATION………………………………………………….8
Trajectory Design………………………………………………..8
Task Allocation…………………………………………………10
RECEDING HORIZON CONTROL USING MIXED-INTEGER LINEAR PROGRAMMING……………………………………………………………..11
Overview of the Receding Horizon Controller………………....11
Model of Aircraft Dynamics……………………………..……..12
Discrete Time System…………………………..…12
Speed Constraints…………….…………………..13
Minimum Turning Radius………………….…….16
Collision Avoidance Constraints………………………………..16
Obstacle Avoidance………….……………………17
Vehicle Avoidance……………………..…………18
Plan beyond the Planning Horizon……………………………..19
Target Visit..……………………………………………………21
Cost Function……………………………………………………23
SOFTWARE……………………………………………………………………26
MODELING AND ITS RESULTS.……..……………………………………27
Annotation……………………………………………………...27
Text of the program…………………………………………….29
Obtained graphical representations of work done………………35
CONCLUSIONS………………………………………………………………..…..40
REFERENCES…………………………………………………………………..…41