Abstract
This paper presents a collision-prediction and avoidance algorithm for multivehicle cooperative missions. Using Bézier surfaces, the algorithm avoids time discretization of trajectories and is capable of considering uncertainties in speed profiles. The algorithm runs independently onboard each vehicle and, upon detection of a possible collision, replans its trajectory. Under a few assumptions, the modified trajectory is guaranteed to avoid the predicted collision as well as satisfy mission specific constraints. The deviations in position, velocity, and acceleration caused by the avoidance maneuver are small and respect bounds that can be computed offline. These bounds can be used during the mission-planning phase to guarantee satisfaction of vehicle dynamic constraints and intervehicle safety distances even during collision-avoidance maneuvers.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 1779-1796 |
| Number of pages | 18 |
| Journal | Journal of Guidance, Control, and Dynamics |
| Volume | 42 |
| Issue number | 8 |
| DOIs | |
| State | Published - Jan 1 2019 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Aerospace Engineering
- Space and Planetary Science
- Electrical and Electronic Engineering
- Applied Mathematics
Cite this
Collision avoidance in cooperative missions : Bézier surfaces for circumnavigating uncertain speed profiles. / Mehdi, Syed Bilal; Choe, Ronald; Hovakimyan, Naira.
In: Journal of Guidance, Control, and Dynamics, Vol. 42, No. 8, 01.01.2019, p. 1779-1796.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Collision avoidance in cooperative missions
T2 - Bézier surfaces for circumnavigating uncertain speed profiles
AU - Mehdi, Syed Bilal
AU - Choe, Ronald
AU - Hovakimyan, Naira
PY - 2019/1/1
Y1 - 2019/1/1
N2 - This paper presents a collision-prediction and avoidance algorithm for multivehicle cooperative missions. Using Bézier surfaces, the algorithm avoids time discretization of trajectories and is capable of considering uncertainties in speed profiles. The algorithm runs independently onboard each vehicle and, upon detection of a possible collision, replans its trajectory. Under a few assumptions, the modified trajectory is guaranteed to avoid the predicted collision as well as satisfy mission specific constraints. The deviations in position, velocity, and acceleration caused by the avoidance maneuver are small and respect bounds that can be computed offline. These bounds can be used during the mission-planning phase to guarantee satisfaction of vehicle dynamic constraints and intervehicle safety distances even during collision-avoidance maneuvers.
AB - This paper presents a collision-prediction and avoidance algorithm for multivehicle cooperative missions. Using Bézier surfaces, the algorithm avoids time discretization of trajectories and is capable of considering uncertainties in speed profiles. The algorithm runs independently onboard each vehicle and, upon detection of a possible collision, replans its trajectory. Under a few assumptions, the modified trajectory is guaranteed to avoid the predicted collision as well as satisfy mission specific constraints. The deviations in position, velocity, and acceleration caused by the avoidance maneuver are small and respect bounds that can be computed offline. These bounds can be used during the mission-planning phase to guarantee satisfaction of vehicle dynamic constraints and intervehicle safety distances even during collision-avoidance maneuvers.
UR - http://www.scopus.com/inward/record.url?scp=85069793735&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85069793735&partnerID=8YFLogxK
U2 - 10.2514/1.G003864
DO - 10.2514/1.G003864
M3 - Article
AN - SCOPUS:85069793735
VL - 42
SP - 1779
EP - 1796
JO - Journal of Guidance, Control, and Dynamics
JF - Journal of Guidance, Control, and Dynamics
SN - 0731-5090
IS - 8
ER -