Piecewise bézier curves for avoiding collisions during multivehicle coordinated missions

Syed Bilal Mehdi, Ronald Choe, Naira Hovakimyan

Research output: Contribution to journalArticle

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 languageEnglish (US)
Pages (from-to)1567-1578
Number of pages12
JournalJournal of Guidance, Control, and Dynamics
Volume40
Issue number7
DOIs
StatePublished - Jan 1 2017

Fingerprint

Collision
collision
trajectory
Trajectories
trajectories
Trajectory
vehicles
Curve
collisions
curves
mission planning
Vehicle Dynamics
avoidance
safety
Deviation
Safety
Planning
deviation
vehicle
Prediction

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 journalArticle

@article{b9bb27da791645759b43a92d6a62786a,
title = "Piecewise b{\'e}zier curves for avoiding collisions during multivehicle coordinated missions",
abstract = "This paper presents a B{\'e}zier-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.",
author = "Mehdi, {Syed Bilal} and Ronald Choe and Naira Hovakimyan",
year = "2017",
month = "1",
day = "1",
doi = "10.2514/1.G002328",
language = "English (US)",
volume = "40",
pages = "1567--1578",
journal = "Journal of Guidance, Control, and Dynamics",
issn = "0731-5090",
publisher = "American Institute of Aeronautics and Astronautics Inc. (AIAA)",
number = "7",

}

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 -