Abstract
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 language | English (US) |
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Pages (from-to) | 1567-1578 |
Number of pages | 12 |
Journal | Journal of Guidance, Control, and Dynamics |
Volume | 40 |
Issue number | 7 |
DOIs | |
State | Published - 2017 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Aerospace Engineering
- Space and Planetary Science
- Applied Mathematics
- Electrical and Electronic Engineering