Collision avoidance through path replanning using bézier curves

Syed Bilal Mehdi, Ronald Choe, Venanzio Cichella, Naira Hovakimyan

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

Abstract

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.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624103391
StatePublished - Jan 1 2015
EventAIAA Guidance, Navigation, and Control Conference, 2015 - Kissimmee, United States
Duration: Jan 5 2015Jan 9 2015

Publication series

NameAIAA Guidance, Navigation, and Control Conference, 2013

Other

OtherAIAA Guidance, Navigation, and Control Conference, 2015
CountryUnited States
CityKissimmee
Period1/5/151/9/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Aerospace Engineering
  • Control and Systems Engineering

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  • Cite this

    Mehdi, S. B., Choe, R., Cichella, V., & Hovakimyan, N. (2015). Collision avoidance through path replanning using bézier curves. In AIAA Guidance, Navigation, and Control Conference (AIAA Guidance, Navigation, and Control Conference, 2013). American Institute of Aeronautics and Astronautics Inc, AIAA.