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Decision making among alternative routes for UAVs in dynamic environments



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Ruz Ortíz, José Jaime and Arévalo, Orlando and Pajares Martinsanz, Gonzalo and Cruz García, Jesús Manuel de la (2007) Decision making among alternative routes for UAVs in dynamic environments. In ETFA 2007: IEEE International Conference on Emerging Technologies and Factory Automation. IEEE, pp. 997-1004. ISBN 978-1-4244-0826-9

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Official URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4416892



This paper presents an approach to trajectory generation for Unmanned Aerial Vehicles (UAV)) by using Mixed Integer Linear Programming (MILP) and a modification of the A* algorithm to optimize paths in dynamic environments, particularly having pop-ups with a known future probability of appearance. Each pop-up leads to one or several possible evasion maneuvers, characterised with a set Of values used as decision making parameters in an Integer Linear Programming (ILP) model that optimizes the final route by choosing the Most suitable alternative trajectories, according to the imposed constrains such as maximum fuel consumption and spent time. The model of the system in MILP and A* algorithms is presented as well as the ILP formulation for decision making. Results and discussions are given to promote future real tiem implementations.

Item Type:Book Section
Additional Information:

© 2007 IEEE.
This research was funded by the Community of
Madrid, project “COSICOLOGI” S-0505/DPI-0391, by
the Spanish Ministry of Education and Science, project
“Planning, simulation and control for cooperation of
multiple UAVs and MAVs” DPI2006-15661-C02-01,
and by EADS (CASA), project 353/2005.
IEEE International Conference on Emerging Technologies and Factory Automation (12th. Sep 25-28, 2007. Patras, Grecia)

Uncontrolled Keywords:Automation & Control Systems, Engineering, Manufacturing
Subjects:Sciences > Computer science
ID Code:23280
Deposited On:25 Mar 2014 08:49
Last Modified:25 Mar 2014 08:49

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