Abstract
This paper presents a cooperative trajectory-generation framework to efficiently compute a set of spatial trajectories for a team of cooperating vehicles: in particular, for unmanned aerial vehicles. The desired, feasible trajectories are generated using Pythagorean Hodograph Bézier curves, satisfy stringent spatial and temporal constraints, do not violate the dynamic constraints of the vehicles, and guarantee spatial deconfliction between the trajectories for safe operation. A multivehicle mission scenario is presented to show the efficacy of the proposed cooperative trajectory-generation framework.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 1744-1763 |
| Number of pages | 20 |
| Journal | Journal of Guidance, Control, and Dynamics |
| Volume | 39 |
| Issue number | 8 |
| DOIs | |
| State | Published - Jan 1 2016 |
Fingerprint
ASJC Scopus subject areas
- Control and Systems Engineering
- Aerospace Engineering
- Space and Planetary Science
- Electrical and Electronic Engineering
- Applied Mathematics
Cite this
Cooperative trajectory generation using Pythagorean Hodograph Bézier curves. / Choe, Ronald; Puig-Navarro, Javier; Cichella, Venanzio; Xargay, Enric; Hovakimyan, Naira.
In: Journal of Guidance, Control, and Dynamics, Vol. 39, No. 8, 01.01.2016, p. 1744-1763.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Cooperative trajectory generation using Pythagorean Hodograph Bézier curves
AU - Choe, Ronald
AU - Puig-Navarro, Javier
AU - Cichella, Venanzio
AU - Xargay, Enric
AU - Hovakimyan, Naira
PY - 2016/1/1
Y1 - 2016/1/1
N2 - This paper presents a cooperative trajectory-generation framework to efficiently compute a set of spatial trajectories for a team of cooperating vehicles: in particular, for unmanned aerial vehicles. The desired, feasible trajectories are generated using Pythagorean Hodograph Bézier curves, satisfy stringent spatial and temporal constraints, do not violate the dynamic constraints of the vehicles, and guarantee spatial deconfliction between the trajectories for safe operation. A multivehicle mission scenario is presented to show the efficacy of the proposed cooperative trajectory-generation framework.
AB - This paper presents a cooperative trajectory-generation framework to efficiently compute a set of spatial trajectories for a team of cooperating vehicles: in particular, for unmanned aerial vehicles. The desired, feasible trajectories are generated using Pythagorean Hodograph Bézier curves, satisfy stringent spatial and temporal constraints, do not violate the dynamic constraints of the vehicles, and guarantee spatial deconfliction between the trajectories for safe operation. A multivehicle mission scenario is presented to show the efficacy of the proposed cooperative trajectory-generation framework.
UR - http://www.scopus.com/inward/record.url?scp=84980376555&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84980376555&partnerID=8YFLogxK
U2 - 10.2514/1.G001531
DO - 10.2514/1.G001531
M3 - Article
AN - SCOPUS:84980376555
VL - 39
SP - 1744
EP - 1763
JO - Journal of Guidance, Control, and Dynamics
JF - Journal of Guidance, Control, and Dynamics
SN - 0731-5090
IS - 8
ER -