Piecewise bézier curves for avoiding collisions during multivehicle coordinated missions

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.