Mixed integer linear programming trajectory generation for autonomous nap-of-the-earth flight in a threat environment
AssigneeNorthrop Grumman Corporation
InventorsCedric Sek-Kong Ma, Robert Henry Miller
Life of this patent
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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.
Claims22
A method of planning a path of a vehicle, the method comprising the steps of:
- 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 the vehicle from a starting point to a destination point in an environment containing the obstacles and the threats.
A method of controlling a path of a vehicle, the method comprising the steps of:
- defining a first plurality of constraints representing dynamics of the vehicle;
- defining a second plurality of constraints representing collision constraints with obstacles;
- defining a third plurality of constraints representing visibility to threats;
- and
- using the first, second and third plurality of constraints and mixed integer linear programming to generate a set of control actions to move the vehicle from a starting point to a destination point.
Dependencies are inferred from the claim text.