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Enhanced Conflict Avoidance and Dynamic Path Replanning for Multi-UAVs through MILP with Real-Time Speed and Heading Angle Control

Xiaoqin Liu Bin He Gang Xiao

无人系统（英文）2025，Vol.13Issue(4)：1041-1051,11.

无人系统（英文）2025，Vol.13Issue(4)：1041-1051,11.DOI:10.1142/S2301385025500645

Enhanced Conflict Avoidance and Dynamic Path Replanning for Multi-UAVs through MILP with Real-Time Speed and Heading Angle Control

Xiaoqin Liu ¹Bin He ¹Gang Xiao²

作者信息

1. Department of Control Science and Engineering,Tongji University,Shanghai 200092,P.R.China||Shanghai Research Institute for Intelligent Autonomous Systems,Tongji University,Shanghai 201210,P.R.China||National Key Laboratory of Autonomous Intelligent Unmanned Systems,Tongji University,Shanghai 201210,P.R.China||Frontiers Science Center for Intelligent Autonomous Systems,Ministry of Education,Shanghai 201210,P.R.China||Shanghai key Laboratory of Intelligent Autonomous Systems,Tongji University,Shanghai 200092,P.R.China
2. School of Aeronautics and Astronautics,Shanghai Jiao Tong University,Shanghai 200240,P.R.China
折叠

摘要

关键词

Conflict avoidance/path replanning/mixed integer linear programming/multi-UAVs

Key words

Conflict avoidance/path replanning/mixed integer linear programming/multi-UAVs

引用本文复制引用

Xiaoqin Liu,Bin He,Gang Xiao..Enhanced Conflict Avoidance and Dynamic Path Replanning for Multi-UAVs through MILP with Real-Time Speed and Heading Angle Control[J].无人系统（英文）,2025,13(4):1041-1051,11.

基金项目

This study was co-supported by the National Natural Sci-ence Foundation of China(No.62088101),Shanghai Mu-nicipal Science and Technology Major Project(No.2021SHZDZX0100)and the Fundamental Research Funds for the Central Universities. （No.62088101）

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