Mixed Integer Programming for Multi-Vehicle Path Planning (2001)
| Venue: | In European Control Conference 2001 |
| Citations: | 90 - 13 self |
BibTeX
@INPROCEEDINGS{Schouwenaars01mixedinteger,
author = {Tom Schouwenaars and Bart DeMoor and Eric Feron and Jonathan How},
title = {Mixed Integer Programming for Multi-Vehicle Path Planning},
booktitle = {In European Control Conference 2001},
year = {2001},
pages = {2603--2608}
}
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Abstract
This paper presents a new approach to fuel-optimal path planning of multiple vehicles using a combination of linear and integer programming. The basic problem formulation is to have the vehicles move from an initial dynamic state to a final state without colliding with each other, while at the same time avoiding other stationary and moving obstacles. It is shown that this problem can be rewritten as a linear program with mixed integer /linear constraints that account for the collision avoidance. A key benefit of this approach is that the path optimization can be readily solved using the CPLEX optimization software with an AMPL/Matlab interface. An example is worked out to show that the framework of mixed integer/linear programming is well suited for path planning and collision avoidance problems. Implementation issues are also considered. In particular, we compare receding horizon strategies with fixed arrival time approaches.
Keyphrases
multi-vehicle path planning mixed integer programming linear program horizon strategy new approach integer programming path planning mixed integer linear programming implementation issue multiple vehicle fuel-optimal path planning initial dynamic state key benefit final state cplex optimization software ampl matlab interface collision avoidance problem mixed integer linear constraint collision avoidance fixed arrival time approach basic problem formulation path optimization
