Mixed integer linear programming trajectory generation for autonomous nap-of-the-earth flight in a threat environment
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United States of America Patent
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Jul 24, 2007
Grant Date -
Aug 17, 2006
app pub date -
Feb 17, 2005
filing date -
Feb 17, 2005
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Abstract
A method of planning a path of a vehicle by defining a first plurality of constraints representing dynamics of the vehicle; defining a second plurality of constraints representing collisions with obstacles; defining a third plurality of constraints representing visibility to threats; and using the first, second and third plurality of constraints with mixed integer linear programming to generate a trajectory for a vehicle from a starting point to a destination point in an environment containing the obstacles and the threats.
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