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Optimal trajectory generation of a drone for wheelchair tracking using mixed-integer programming

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Abstract

This study considers the optimal-trajectory generation problem in which a drone recognizes a wheelchair with an onboard camera while avoiding collision with obstacles. The optimal-trajectory generation was developed as a mixed-integer programming problem. The same method was used to recognize the wheelchair. In this regard, the optimal-trajectory generation problem was solved at each time step using model predictive control, and the first element of the optimal input was applied. The MATLAB optimization toolbox was used to solve this problem. As a result, the drone could avoid obstacles while recognizing the wheelchair that moved to the target trajectory considering the signals transmitted by the drone.

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Authors and Affiliations

  1. Graduate School of Engineering, Kogakuin University, 1-24-2 Nishi-Shinjuku, Shinjuku-ku, Tokyo, 163-8677, Japan

    Shun Watanabe

  2. Department of Electrical and Electronic Engineering, Kogakuin University, 1-24-2 Nishi-Shinjuku, Shinjuku-ku, Tokyo, 163-8677, Japan

    Masakazu Mukai

Authors
  1. Shun Watanabe
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  2. Masakazu Mukai
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Correspondence to Shun Watanabe.

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This work was presented in part at the 26th International Symposium on Artificial Life and Robotics (Online, January 21–23, 2021).

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Watanabe, S., Mukai, M. Optimal trajectory generation of a drone for wheelchair tracking using mixed-integer programming. Artif Life Robotics 27, 159–164 (2022). https://doi.org/10.1007/s10015-021-00710-1

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  • DOI: https://doi.org/10.1007/s10015-021-00710-1

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