https://github.com/auralius/richards-how

Aircraft Trajectory Planning With Collision Avoidance Using Mixed Integer Linear Programming by Arthur Richards and Jonathan P. How (10.1109/ACC.2002.1023918)
https://github.com/auralius/richards-how

cvxpy mixed-integer-linear-programming optimization paper-reproduction trajectory-optimization

Last synced: 3 months ago
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Aircraft Trajectory Planning With Collision Avoidance Using Mixed Integer Linear Programming by Arthur Richards and Jonathan P. How (10.1109/ACC.2002.1023918)

• Host: GitHub
• URL: https://github.com/auralius/richards-how
• Owner: auralius
• Created: 2024-05-07T19:49:50.000Z (about 1 year ago)
• Default Branch: main
• Last Pushed: 2024-05-18T13:22:53.000Z (about 1 year ago)
• Last Synced: 2025-02-01T10:27:08.336Z (5 months ago)
• Topics: cvxpy, mixed-integer-linear-programming, optimization, paper-reproduction, trajectory-optimization
• Language: Jupyter Notebook
• Homepage:
• Size: 2.05 MB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# richards-how

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Aircraft Trajectory Planning With Collision Avoidance Using Mixed Integer Linear Programming by Arthur Richards and Jonathan P. How (10.1109/ACC.2002.1023918)

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This is an attempt to reproduce the aforementioned paper by using CVXPY as the main framework.

There are several solvers (mixed-integer linear programming) that can be used, such as: SCIP, SCIPY, GLPK_MI, CBC, MOSEK, GUROBI and CPLEX.

Each of these solvers may give different results.

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**Also see Prof. Arthur Richards' implementation here (```aircraft_example.py```):**

**https://github.com/arthurrichards77/pytro**

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![Fig. 4a](https://github.com/auralius/richards-how/blob/main/fig4a.png)

![Fig. 4b](https://github.com/auralius/richards-how/blob/main/fig4b.png)

![Fig. 6a](https://github.com/auralius/richards-how/blob/main/fig6a.png)

![Fig. 6b](https://github.com/auralius/richards-how/blob/main/fig6b.png)

![Fig. 7](https://github.com/auralius/richards-how/blob/main/fig7.gif)

![Fig. 8](https://github.com/auralius/richards-how/blob/main/fig8.png)

![Fig. 9](https://github.com/auralius/richards-how/blob/main/fig9.png)