The spatial flight route planning of unmanned aerial vehicles using the methods of mixed-integer linear programming

This work examines a new approach to solving the problem of spatial flight route planning of unmanned aerial vehicles (UAV) in real-time. The approach hinges upon mixed-integer linear programming (MILP). This algorithm fully takes the limitations of UAV maneuvering capabilities into account, and it is especially suitable for the unknown environment or in a situation of gradual discovery of the environment in the real flight conditions. The simulation results illustrated that using the proposed approach when solving the problem ofUAV motion control in real-time with obstacles is of great importance.

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