Piecewise bézier curves for avoiding collisions during multivehicle coordinated missions

Syed Bilal Mehdi, Ronald Choe, Naira Hovakimyan

Research output: Contribution to journalArticlepeer-review


This paper presents a Bézier-curve-based collision prediction and avoidance algorithm for multivehicle cooperative missions. The proposed algorithm runs on each vehicle independently from other vehicles. Given a predicted trajectory for the obstacle, it checks for a possible collision and modifies the vehicle's own trajectory, if needed. Under a few assumptions, the replanned trajectory is guaranteed to avoid the collision and satisfy missionspecific constraints. The bounds on deviations in position, velocity, and acceleration caused by trajectory replanning are computable a priori. These bounds can be used during the mission-planning phase to guarantee satisfaction of vehicle dynamic constraints and intervehicle safety distance by the replanned trajectory.

Original languageEnglish (US)
Pages (from-to)1567-1578
Number of pages12
JournalJournal of Guidance, Control, and Dynamics
Issue number7
StatePublished - 2017

ASJC Scopus subject areas

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


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