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.
Piecewise Bézier Curves for Avoiding Collisions During Multivehicle Coordinated Missions
Journal of Guidance, Control, and Dynamics ; 40 , 7 ; 1567-1578
2017-07-01
Conference paper , Article (Journal)
Electronic Resource
English
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
|Piecewise Bézier Curves for Avoiding Collisions During Multivehicle Coordinated Missions
Online Contents | 2017
|