Abstract
A finite receding horizon approach for path planning of uninhabited air vehicles (UAVs) is presented. The approach is based on mixed integer linear programming (MILP) techniques. Various constraints are formulated to avoid radar zones and collisions, etc. These constraints are extended to be both hard and soft so as to alleviate the infeasibility problem usually encountered. The finite receding horizon approach is numerically stable and can be applied to the path planning of a fleet of UAVs. Further improvements are possible for use in real time planning. The MILP is solved using commercially available software AMPL/CPLEX.
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