关键词: 滚动时域, 混合整数线性规划, 轨迹规划, 无人飞行器

Abstract: The paper presents a method for finding optimal trajectories for unmanned vehicles.The problem formulation is to have the vehicles move from an initial state to a final state with avoiding obstacles.A receding horizon optimization approach based on mixed-integer linear programming is introduced for solving trajectory planning problem.Simulation result is presented to show that the approach is effective and is real-time computationally tractable in a complex environment.

Key words: receding horizon, mixed-integer linear programming, trajectory planning, unmanned vehicles