TY - GEN
T1 - Implementation and flight test results of MILP-based UAV guidance
AU - Schouwenaars, Tom
AU - Valenti, Mario
AU - Feron, Eric
AU - How, Jonathan
N1 - Generated from Scopus record by KAUST IRTS on 2021-02-18
PY - 2005/12/1
Y1 - 2005/12/1
N2 - This paper discusses the implementation of a guidance system based on Mixed Integer Linear Programming (MILP) on a modified, autonomous T-33 aircraft equipped with Boeing's UCAV avionics package. A receding horizon MILP formulation is presented for safe, real-time trajectory generation in a partially-known, cluttered environment. Safety at all times is guaranteed by constraining the intermediate trajectories to terminate in a loiter pattern that does not intersect with any no-fly zones and can always be used as a safe backup plan. Details about the real-time software implementation using CPLEX and Boeing's OCP platform are given. A test scenario developed for the DARPA-sponsored Software Enabled Control Capstone Demonstration is out-lined, and simulation and flight test results are presented. © 2005 IEEE.
AB - This paper discusses the implementation of a guidance system based on Mixed Integer Linear Programming (MILP) on a modified, autonomous T-33 aircraft equipped with Boeing's UCAV avionics package. A receding horizon MILP formulation is presented for safe, real-time trajectory generation in a partially-known, cluttered environment. Safety at all times is guaranteed by constraining the intermediate trajectories to terminate in a loiter pattern that does not intersect with any no-fly zones and can always be used as a safe backup plan. Details about the real-time software implementation using CPLEX and Boeing's OCP platform are given. A test scenario developed for the DARPA-sponsored Software Enabled Control Capstone Demonstration is out-lined, and simulation and flight test results are presented. © 2005 IEEE.
UR - http://ieeexplore.ieee.org/document/1559600/
UR - http://www.scopus.com/inward/record.url?scp=33751517114&partnerID=8YFLogxK
U2 - 10.1109/AERO.2005.1559600
DO - 10.1109/AERO.2005.1559600
M3 - Conference contribution
SN - 0780388704
BT - IEEE Aerospace Conference Proceedings
ER -