This paper presents an approach to trajectory generation for Unmanned Aerial Vehicles (UAV) by using Mixed Integer Linear Programming (MILP) and a modification of the A{sup}* algorithm to optimize paths in dynamic env...
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This paper presents an approach to trajectory generation for Unmanned Aerial Vehicles (UAV) by using Mixed Integer Linear Programming (MILP) and a modification of the A{sup}* algorithm to optimize paths in dynamic environments, particularly having pop-ups with a known future probability of appearance. Each pop-up leads to one or several possible evasion maneuvers, characterized with a set of values used as decision making parameters in an Integer Linear Programming (ILP) model that optimizes the final route by choosing the most suitable alternative trajectories, according to the imposed constrains such as maximum fuel consumption and spent time. The model of the system in MILP and A{sup}* algorithms is presented, as well as the ILP formulation for decision making. Results and discussions are given to promote future real time implementations.
This paper presents an approach to trajectories optimization for unmanned aerial vehicle (UAV) in presence of obstacles, waypoints, and threat zones such as radar detection regions, using mixed integer linear programm...
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This paper presents an approach to trajectories optimization for unmanned aerial vehicle (UAV) in presence of obstacles, waypoints, and threat zones such as radar detection regions, using mixed integer linear programming (MILP). The main result is the linear approximation of a nonlinear radar detection risk function with integer constraints and indicator 0-1 variables. Several results are presented to show that the approach can yields trajectories depending on the acceptable risk of detection.
作者：
DE LA CRUZ J.MHERRáN-GONZáLEZ ARISCO-MARTíN J.LANDRéS-TORO BDepartment of Computer Architecture and Automatic Control
Complutense University of Madrid 28040 Madrid SpainDepartment of Computer Architecture and Automatic Control Complutense University of Madrid 28040 Madrid SpainDepartment of Computer Science Engineering C.E.S. Felipe II (U.C.M.) 28300 Aranjuez SpainDepartment of Computer Architecture and Automatic Control Complutense University of Madrid 28040 Madrid Spain
We solve the problem of petroleum products distribution through oil pipelines networks. This problem is modelled and solved using two techniques: A heuristic method like a multiobjective evolutionary algorithm and Mat...
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We solve the problem of petroleum products distribution through oil pipelines networks. This problem is modelled and solved using two techniques: A heuristic method like a multiobjective evolutionary algorithm and Mathematical Programming. In the multiobjective evolutionary algorithm, several objective functions are defined to express the goals of the solutions as well as the preferences among them. Some constraints are included as hard objective functions and some are evaluated through a repairing function to avoid infeasible solutions. In the Mathematical Programming approach the multiobjective optimization is solved using the Constraint Method in Mixed Integer Linear Programming. Some constraints of the mathematical model are nonlinear, so they are linearized. The results obtained with both methods for one concrete network are presented. They are compared with a hybrid solution, where we use the results obtained by Mathematical Programming as the seed of the evolutionary algorithm.
This paper describes an automatic quality control system that supervises through three CCD cameras the assembly of automobile airbag sensors. The main characteristics that can be detected are position, angle and geome...
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ISBN:
(纸本)0780372417
This paper describes an automatic quality control system that supervises through three CCD cameras the assembly of automobile airbag sensors. The main characteristics that can be detected are position, angle and geometric parameters of epoxy resin to fix the accelerator sensor. The system can inspect 12000 pieces/hour and now it is at full production in a multinational automobile component factory at Madrid.
We have four small mobile hexapods. Each hexapod has almost no brain, but can communicate via radio with a PC, using a limited set of digital messages. The hexapods know how to move, and can detect obstacles and some ...
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We have four small mobile hexapods. Each hexapod has almost no brain, but can communicate via radio with a PC, using a limited set of digital messages. The hexapods know how to move, and can detect obstacles and some kind of objects. We have four PCs, one for each hexapod (so each hexapod has a helping brain). The PCs are interconnected using the parallel port. We can assign a task for the team, for instance to explore a field. The PCs must work in a coordinated way, exchanging messages. The development of this experimental scenario has been the subject of several projects done by students involved in robotics and computer science. One of the aspects covered is the use of real time operating systems for the PCs to work together. Other aspects are related with mobile robotics and the behavior of insectoids. The general set-up has been completed recently, and a new project will start to accomplish a task and study the results. An object oriented simulation is also another new project, which will be validated against the experimental results. Every project must generate documentation for others to use it. In general, the idea is to establish an interesting challenge, with obvious results. The paper presents the main educational objectives, and describes the chief parts of the experimental set-up: robots and PCs, interconnection characteristics. Then, the paper focuses on the projects done and under way, with emphasis on the pedagogical impact.
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