Cooperative trajectory generation using Pythagorean Hodograph Bézier curves

Ronald Choe; Javier Puig-Navarro; Venanzio Cichella; Enric Xargay; Naira Hovakimyan

doi:10.2514/1.G001531

Cooperative trajectory generation using Pythagorean Hodograph Bézier curves

Ronald Choe, Javier Puig-Navarro, Venanzio Cichella, Enric Xargay, Naira Hovakimyan

Research output: Contribution to journal › Article › peer-review

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	https://doi.org/10.2514/1.G001531
State	Published - 2016

ASJC Scopus subject areas

Control and Systems Engineering
Aerospace Engineering
Space and Planetary Science
Electrical and Electronic Engineering
Applied Mathematics

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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 B{\'e}zier 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.",

author = "Ronald Choe and Javier Puig-Navarro and Venanzio Cichella and Enric Xargay and Naira Hovakimyan",

note = "Funding Information: This research was supported by NASA and the U.S. Air Force Office of Scientific Research. Publisher Copyright: Copyright {\textcopyright} 2016 by Choe,. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.",

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AU - Cichella, Venanzio

AU - Xargay, Enric

AU - Hovakimyan, Naira

N1 - Funding Information: This research was supported by NASA and the U.S. Air Force Office of Scientific Research. Publisher Copyright: Copyright © 2016 by Choe,. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.

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Cooperative trajectory generation using Pythagorean Hodograph Bézier curves

Abstract

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