TY - GEN
T1 - Collision avoidance through path replanning using bézier curves
AU - Mehdi, Syed Bilal
AU - Choe, Ronald
AU - Cichella, Venanzio
AU - Hovakimyan, Naira
PY - 2015/1/1
Y1 - 2015/1/1
N2 - This paper introduces a collision prediction and avoidance algorithm for multi-vehicle time-critical cooperative missions. The algorithm extends our previous results on collision avoidance based on speed adjustment and allows for safe operation in a wider range of collision scenarios. Unlike the speed-adjustment method, the new algorithm changes the shape of the vehicle’s planned trajectory by adding an appropriate detour. We show that the bounds on the changes in position, velocity and acceleration, as a result of the path replanning, are computable and depend on the collision scenarios under consideration. Hence, these bounds can be used during the mission-planning phase, to ensure that the replanned path satisfies the dynamic constraints of the vehicles.
AB - This paper introduces a collision prediction and avoidance algorithm for multi-vehicle time-critical cooperative missions. The algorithm extends our previous results on collision avoidance based on speed adjustment and allows for safe operation in a wider range of collision scenarios. Unlike the speed-adjustment method, the new algorithm changes the shape of the vehicle’s planned trajectory by adding an appropriate detour. We show that the bounds on the changes in position, velocity and acceleration, as a result of the path replanning, are computable and depend on the collision scenarios under consideration. Hence, these bounds can be used during the mission-planning phase, to ensure that the replanned path satisfies the dynamic constraints of the vehicles.
UR - http://www.scopus.com/inward/record.url?scp=85027294818&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85027294818&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85027294818
SN - 9781624103391
T3 - AIAA Guidance, Navigation, and Control Conference, 2013
BT - AIAA Guidance, Navigation, and Control Conference
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA Guidance, Navigation, and Control Conference, 2015
Y2 - 5 January 2015 through 9 January 2015
ER -