This paper presents a collision-prediction and avoidance algorithm for multivehicle cooperative missions. Using Bézier surfaces, the algorithm avoids time discretization of trajectories and is capable of considering uncertainties in speed profiles. The algorithm runs independently onboard each vehicle and, upon detection of a possible collision, replans its trajectory. Under a few assumptions, the modified trajectory is guaranteed to avoid the predicted collision as well as satisfy mission specific constraints. The deviations in position, velocity, and acceleration caused by the avoidance maneuver are small and respect bounds that can be computed offline. These bounds can be used during the mission-planning phase to guarantee satisfaction of vehicle dynamic constraints and intervehicle safety distances even during collision-avoidance maneuvers.
Collision Avoidance in Cooperative Missions: Bézier Surfaces for Circumnavigating Uncertain Speed Profiles
Journal of Guidance, Control, and Dynamics ; 42 , 8 ; 1779-1796
2019-02-28
18 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Bézier curve‐based trajectory planning for autonomous vehicles with collision avoidance
Wiley | 2020
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