/********************************************* * OPL 12.5 Data * Author: Yousef * Creation Date: 2015-04-22 at 12:57:13 PM *********************************************/ // Maximum number of steps in the planning horizon MaxK = 40; // Maximum angle disretizations MaxDis = 20; // Equations for the TYPE 1 REGIONS (right hand side in km) EquationsT1_1 = [[ 1, 0, 5], [ -1, 0, 0], [ 0, 1, 8], [ 0, -1, -5], ]; EquationsT1_2 = [[1, 0, 2], [ -1, 0, 0], [ 0, 1, 20], [ 0, -1, -5], ]; EquationsT1_3 = [[1, 0, 18], [ -1, 0, -15], [ 0, 1, 5], [ 0, -1, 0], ]; // Equations for the TYPE 3 REGIONS (right hand side in km) //A EquationsT3_A = [[1, 0, 8], [ -1, 0, -5], [ 0, 1, 8], [ 0, -1, -5], ]; //B EquationsT3_B = [[1, 0, 12], [ -1, 0, -8], [ 0, 1, 8], [ 0, -1, -5], ]; //C EquationsT3_C = [[1, 0, 15], [ -1, 0, -12], [ 0, 1, 8], [ 0, -1, -5], ]; // Time steps in which the type 3 regions are active (we are not interested in the further movements of the surveillance aircraft because we consider max number of time steps = 40) KD_A = {1 ,2 ,3 ,4 ,5 , 6, 7, 8, 9,10}; // A is active in these time steps KD_B = {11,12,13,14,15,16,17,18,19,20}; // B is active in these time steps KD_C = {21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40}; // C is active in these time steps // Equations for TYPE 2 and TYPE 4 REGIONS (right hand side in km) Equations_Zone1 = [[1, 0, 18], [ -1, 0, 0], [ 0, 1, 7], [ 0, -1, 0], ]; Equations_Zone2 = [[1, 0, 18], [ -1, 0, 0], [ 0, 1, 15], [ 0, -1, -7], ]; Equations_Zone3 = [[1, 0, 18], [ -1, 0, 0], [ 0, 1, 25], [ 0, -1, -15], ]; Equations_Zone4 = [[1, 0, 25], [ -1, 0, -18], [ 0, 1, 25], [ 0, -1, 0], ]; // Associated risk factor for each zone above // A positive risk factor implies the zone belongs to type 2 region, a risk factor of zero implies the zone belongs to type 4 region Risk = [0,6,0,5]; // Area boundaries (in km)- the UAV cannot leave these boundaries MinX = 0; MinY = 0; MaxX = 25; MaxY = 25; // Maximum tolerated risk MaxRisk = 95; // Maximum UAV velocity in km per minute VMax = 2.8; // Minimum turn radius in km RMin = 1; // Safety value (km) SV = 1; // Time step length in minutes DeltaT = 1; // Waypoints x and y coordinates (km) // The first and the last point represents the base WpX = [0, 4, 12, 20, 0]; WpY = [0, 10, 15, 1, 0];