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1、RecedingHorizonControlofAutonomousAerialVehicles1JohnBellingham2,ArthurRichards3,andJonathanP.How4MassachusettsInstituteofTechnologyCambridgeMA02139Abstractsamplingthepossiblecontrolactions,buttheresult-ingtrajectoriesaregenerallynotoptimal.ThisworkThispaperpr
2、esentsanewapproachtotrajectoryop-presentsanewmethodforoptimizingkinodynamicallytimizationforautonomousfixed-wingaerialvehiclesconstrainedtrajectoriesthatisnear-optimal(showntoperforminglarge-scalemaneuvers.Themainresultisbewithin3%onaverageforseveralexamples)an
3、dcom-aplannerwhichdesignsnearlyminimumtimeplanarputationallytractable.trajectoriestoagoal,constrainedbyno-flyzonesandthevehicle’smaximumspeedandturningrate.Mixed-Mixed-IntegerLinearProgramming(MILP)isthekeyIntegerLinearProgramming(MILP)isusedfortheop-elementoft
4、hisnewapproach.MILPextendslineartimization,andiswellsuitedtotrajectoryoptimizationprogrammingtoincludevariablesthatareconstrainedbecauseitcanincorporatelogicalconstraints,suchastotakeonintegerorbinaryvalues.Thesevariablesno-flyzoneavoidance,andcontinuousconstra
5、ints,suchcanbeusedtoaddlogicalconstraintsintotheopti-asaircraftdynamics.MILPisappliedoverarecedingmizationproblem[3,4],suchasobstacleandcollisionplanninghorizontoreducethecomputationaleffortofavoidance[5,6,7].Recentimprovementsincombina-theplannerandtoincorpora
6、tefeedback.Inthisap-torialoptimizationandcomputerspeedmakeMILPaproach,MILPisusedtoplanshorttrajectoriesthatfeasibletoolfortrajectoryoptimization.Toreducetheextendtowardsthegoal,butdonotnecessarilyreachcomputationtimerequiredbyMILPforlargetrajecto-it.Thecostfun
7、ctionaccountsfordecisionsbeyondtheries,itcanbeenusedinarecedinghorizonframework,planninghorizonbyestimatingthetimetoreachthesuchasthebasicapproachpresentedinRef.[5].goalfromtheplan’sendpoint.ThistimeisestimatedIngeneral,recedinghorizoncontrol(alsocalledModelby
8、searchingagraphrepresentationoftheenvironment.PredictiveControl)designsaninputtrajectorythatop-Thisapproachisshowntoavoidentrapmentbehindob-timizestheplant’soutputoveraperiodoftime
