Avoiding multiple collisions through trajectory replanning using piecewise Bézier curves

Syed Bilal Mehdi, Ronald Choe, Naira Hovakimyan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a collision prediction and avoidance algorithm based on piecewise Bézier curves. Upon detection of an obstacle, the algorithm checks for a possible collision and modifies the vehicle's planned trajectory, if needed. Under mild assumptions, the replanned trajectory is guaranteed to avoid the collision and satisfy mission-specific constraints. The bounds on changes 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 by the replanned trajectory. The algorithm presented here can be used to avoid multiple collisions under weaker assumptions as compared to previous results.

Original languageEnglish (US)
Title of host publication54rd IEEE Conference on Decision and Control,CDC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2755-2760
Number of pages6
ISBN (Electronic)9781479978861
DOIs
StatePublished - Feb 8 2015
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: Dec 15 2015Dec 18 2015

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume54rd IEEE Conference on Decision and Control,CDC 2015
ISSN (Print)0743-1546

Other

Other54th IEEE Conference on Decision and Control, CDC 2015
CountryJapan
CityOsaka
Period12/15/1512/18/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Mehdi, S. B., Choe, R., & Hovakimyan, N. (2015). Avoiding multiple collisions through trajectory replanning using piecewise Bézier curves. In 54rd IEEE Conference on Decision and Control,CDC 2015 (pp. 2755-2760). [7402633] (Proceedings of the IEEE Conference on Decision and Control; Vol. 54rd IEEE Conference on Decision and Control,CDC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2015.7402633