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2005 IEEE Aerospace Conference
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 candoi:10.1109/aero.2005.1559600 fatcat:lrocfwjni5dpjmt2fa7izo76me