Experiments in real time path planning for a small unmanned helicopter using mixed integer linear programming
Name
54977999-MIT.pdf
Description
Full printable version
Size
2.65 MB
Format
Adobe PDF
Checksum (MD5)
da7e5cb94c210bec583826bebd1f43b8
Author(s)
Martinos, Ioannis, 1977-
Advisor(s)
Eric Feron.
Date Issued
2003
Publisher
Massachusetts Institute of Technology
Abstract
We use mathematical programming to perform simulated and actual flight experiments with the MIT autonomous helicopter platform. The experimental platform mechanical hardware, avionics and software architecture are described. Mixed Integer Linear Programming formulations for guidance experiments in obstacle avoidance and threat evasion are presented. Results from an experimental flight and flight simulations are presented and discussed. The performance of the GNU Linear Programming Kit (GLPK) software library, used in the experiments, is examined. The solvers internal branching heuristic, as it pertains to our formulations, is illustrated graphically. Finally, we discuss ways to improve the solvers performance by adding stronger objective bounds to the subproblems it creates while applying the branch and bound algorithm.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2003.
Includes bibliographical references (leaves 56-57).
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Subjects
Aeronautics and Astronautics.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
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