This paper presents a Bézier-curve-based collision prediction and avoidance algorithm for multivehicle cooperative missions. The proposed algorithm runs on each vehicle independently from other vehicles. Given a predicted trajectory for the obstacle, it checks for a possible collision and modifies the vehicle's own trajectory, if needed. Under a few assumptions, the replanned trajectory is guaranteed to avoid the collision and satisfy mission-specific constraints. The bounds on deviations in position, velocity, and acceleration caused by trajectory replanning are computable a priori. These bounds can be used during the mission-planning phase to guarantee satisfaction of vehicle dynamic constraints and intervehicle safety distance by the replanned trajectory. Presented as Paper 2015-0598 at the AIAA Guidance, Navigation, and Control Conference (GNC), Kissimmee, FL, 5-9 January 2015
Piecewise Bézier Curves for Avoiding Collisions During Multivehicle Coordinated Missions
2017
Aufsatz (Zeitschrift)
Englisch
Piecewise Bézier Curves for Avoiding Collisions During Multivehicle Coordinated Missions
Online Contents | 2017
|Piecewise Bézier Curves for Avoiding Collisions During Multivehicle Coordinated Missions
Online Contents | 2017
|