This paper discusses the implementation of a guidance system based on Mixed Integer Linear Programming (MILP) on a modified, autonomous T-33 aircraft equipped with Boeing's UCAV avionics package. A receding horizon MILP formulation is presented for safe, real-time trajectory generation in a partially-known, cluttered environment. Safety at all times is guaranteed by constraining the intermediate trajectories to terminate in a loiter pattern that does not intersect with any no-fly zones and can always be used as a safe backup plan. Details about the real-time software implementation using CPLEX and Boeing's OCP platform are given. A test scenario developed for the DARPA-sponsored Software Enabled Control Capstone Demonstration is out-lined, and simulation and flight test results are presented. © 2005 IEEE.
|Original language||English (US)|
|Title of host publication||IEEE Aerospace Conference Proceedings|
|State||Published - Dec 1 2005|