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

摘要： 给出了寻求无人飞行器的最优轨迹的一种方法，其问题描述为使飞行器从初始状态飞行到目标状态，同时避免撞到障碍物。基于混合整数规划的滚动时域优化方法用来求解飞行器的轨迹规划问题。给出的仿真结果显示此方法的有效性以及在复杂环境下的可实时计算性。

关键词: 滚动时域, 混合整数线性规划, 轨迹规划, 无人飞行器