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


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Piecewise Bézier Curves for Avoiding Collisions During Multivehicle Coordinated Missions




    Publication date :

    2017




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    55.54 Flugführung
    Local classification TIB:    770/7040