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.


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    Title :

    Piecewise Bézier Curves for Avoiding Collisions During Multivehicle Coordinated Missions


    Contributors:

    Published in:

    Publication date :

    2017-07-01




    Type of media :

    Conference paper , Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English