Model Predictive Planner for UAV Navigation in Non-Convex Air Corridors

• URL: http://arxiv.org/abs/2607.24369v1
• Date: Mon, 27 Jul 2026 12:42:38 GMT
• Title: Model Predictive Planner for UAV Navigation in Non-Convex Air Corridors
• Abstract summary: This work presents a motion motion framework for UAV air corridors.<n>The planner is based on a mixed-integer tracking model that enforces external feasibility.
• Score: 1.2617078020344616
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: This work presents a motion planning framework for UAV navigation in non-convex urban air corridors. The planner is based on a mixed-integer tracking model predictive control formulation that enforces corridor feasibility and dynamic consistency within a single optimization problem. To guarantee convergence to the target and mitigate the occurrence of local minima induced by non-convex geometry, a shortest-path-based offset cost with feasibility constraints is embedded directly into the planning problem. Numerical simulations show that the proposed formulation generates dynamically valid trajectories that satisfy the corridor constraints and converge to the target without relying on external global planning stages.

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