The Implementation of Trajectory Planning in Real DEM Maps based on MILP

This paper utilizes the path planning algorithm based on mixed integer linear programming (MILP) to plan trajectory in the real Digital Elevation Model (DEM) map. The original map data is derived from International Science Data Services Platform (ISDSP). We analyzed and extracted the original map data from ISDSP. Then we converted it into ASCII encoding DEM grid map, and used c++ and opengl to display the map after interpretating the format of the data structure. Finally, path planning algorithm is applied to the map. Simulation results show the feasibility and correctness of the algorithm in real DEM map.