Iterative MILP Methods for Vehicle Control Problems

Details Iterative MILP Methods for Vehicle Control Problems Iterative MILP Methods for Vehicle Control Problems

2005-05-16

arxiv.org/abs/cs/0505042v1

M. G. Earl and R. D'Andrea, "Iterative MILP Methods for Vehicle Control Problems," IEEE Transactions on Robotics, Volume 21, I

Computer Science

Robotics

22 pages, 9 figures, submitted to IEEE Transactions on Robotics, for associated web page see http://control.mae.cornell.edu/ea

Scientific paper

Mixed integer linear programming (MILP) is a powerful tool for planning and control problems because of its modeling capability and the availability of good solvers. However, for large models, MILP methods suffer computationally. In this paper, we present iterative MILP algorithms that address this issue. We consider trajectory generation problems with obstacle avoidance requirements and minimum time trajectory generation problems. The algorithms use fewer binary variables than standard MILP methods and require less computational effort.

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