Active multi-model control for dynamic maneuver optimization of unmanned air vehicles

We present a wavelet-based multi-resolution dynamic maneuver optimization method for UAV route planning. We use a combination of evolutionary computing and interior point based dynamic optimization algorithm to satisfy constraints imposed by vehicle dynamics as well as obstacle avoidance.

[1]  L. Biegler,et al.  Large scale inequality constrained optimization and control , 1998 .

[2]  Dinesh K. Pai,et al.  Multiresolution rough terrain motion planning , 1998, IEEE Trans. Robotics Autom..

[3]  Tariq Samad,et al.  Neural networks as process controllers-optimization aspects , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[4]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[5]  Roderick Murray-Smith,et al.  Multiple Model Approaches to Modelling and Control , 1997 .