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Flight Formation of Quad-Copters in Presence of Dynamic Obstacles Using Mixed Integer Linear Programming

[+] Author Affiliations
Mohammadreza Radmanesh, Alireza Nemati, Mohammad Sarim, Manish Kumar

University of Cincinnati, Cincinnati, OH

Paper No. DSCC2015-9931, pp. V001T06A009; 9 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5724-3
  • Copyright © 2015 by ASME


This paper proposes the implementation of Mixed Integer Linear Programming (MILP) for efficient path planning of UAVs in various flight formations. The Unmanned Aerial Vehicles (UAVs) taking part in a cooperative flight are assumed to be equipped with Automatic Dependent Surveillance Broadcast (ADS-B) which enables sharing the flight information with neighboring aircrafts. The design and implementation of the flight formation algorithm have been carried out for a general case, such that multiple UAVs with arbitrarily geographically located base stations can take part in the formation flight and collision avoided path planning. The paper formulates the problem of path of planning in the framework of MILP and proposes a cost function that minimizes time and energy consumption. The performance of the proposed algorithm has been verified via a number of simulations carried out using different scenarios.

Copyright © 2015 by ASME



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