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) |
|---|---|
| Pages (from-to) | 1567-1578 |
| Number of pages | 12 |
| Journal | Journal of Guidance, Control, and Dynamics |
| Volume | 40 |
| Issue number | 7 |
| DOIs | |
| State | Published - Jan 1 2017 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Aerospace Engineering
- Space and Planetary Science
- Electrical and Electronic Engineering
- Applied Mathematics
Cite this
Piecewise bézier curves for avoiding collisions during multivehicle coordinated missions. / Mehdi, Syed Bilal; Choe, Ronald; Hovakimyan, Naira.
In: Journal of Guidance, Control, and Dynamics, Vol. 40, No. 7, 01.01.2017, p. 1567-1578.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Piecewise bézier curves for avoiding collisions during multivehicle coordinated missions
AU - Mehdi, Syed Bilal
AU - Choe, Ronald
AU - Hovakimyan, Naira
PY - 2017/1/1
Y1 - 2017/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85020703720&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85020703720&partnerID=8YFLogxK
U2 - 10.2514/1.G002328
DO - 10.2514/1.G002328
M3 - Article
AN - SCOPUS:85020703720
VL - 40
SP - 1567
EP - 1578
JO - Journal of Guidance, Control, and Dynamics
JF - Journal of Guidance, Control, and Dynamics
SN - 0731-5090
IS - 7
ER -