Universidad Complutense de Madrid
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Decision making among alternative routes for UAVs in dynamic environments

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Ruz Ortíz, José Jaime y Arévalo, Orlando y Pajares Martinsanz, Gonzalo y 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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URL Oficial: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4416892


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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.


Tipo de documento:Sección de libro
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© 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)

Palabras clave:Automation & Control Systems, Engineering, Manufacturing
Materias:Ciencias > Informática
Código ID:23280
Depositado:25 Mar 2014 08:49
Última Modificación:25 Mar 2014 08:49

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