UAV path planning using MILP with experiments
Journal article, Peer reviewed
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Original versionModeling, Identification and Control. 2017, 38 (1), 21-32. 10.4173/mic.2017.1.3
In this paper, we look at the problem of tracking icebergs using multiple Unmanned Aerial Vehicles (UAVs). Our solutions use combinatorial optimization for UAV path planning by formulating a mixed integer linear programing (MILP) optimization problem. To demonstrate the approach, we present both a simulation and a practical experiment. The simulation demonstrates the possibilities of the MILP algorithm by constructing a case where three UAVs help a boat make a safe passage through an area with icebergs. Furthermore, we compare the performance of three against a single UAV. In the practical experiment, we take the first step towards full-scale experiments. We run the algorithm on a ground station and use it to set the path for a UAV tracking five simulated icebergs.