In this paper we propose a technique that assigns obstacles to clusters used for collision avoidance via Mixed-Integer Programming. This strategy enables a reduction in the number of binary variables used for collision avoidance, thus entailing a decrease in computational cost, which has been a hindrance to the application of Model Predictive Control approaches with Mixed-Integer Programming formulations in real-time. Moreover, the assignment of obstacles to clusters and the sizes of the clusters are decided within the same optimization problem that performs the trajectory planning, thus yielding optimal cluster choices. Simulation results are presented to illustrate an application of the proposal.

中文翻译：

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使用混合整数线性规划的动态障碍物聚类策略的轨迹规划

在本文中，我们提出了一种通过混合整数规划为用于避免碰撞的集群分配障碍物的技术。这种策略可以减少用于避免碰撞的二进制变量的数量，从而降低计算成本，这阻碍了具有混合整数规划公式的模型预测控制方法的实时应用。此外，在执行轨迹规划的同一优化问题中决定了对集群的障碍物的分配和集群的大小，从而产生了最佳的集群选择。模拟结果用于说明该提议的应用。