Trajectory generation and collision avoidance for safe operation of cooperating UAVs

Venanzio Cichella, Ronald Choe, S. Bilal Mehdi, Enric Xargay, Naira Hovakimyan, Vladimir Dobrokhodov, Isaac Kaminer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an integrated approach for trajectory generation and time coordination for multiple vehicles, combined with collision avoidance. Pythagorean Hodograph B'ezier curves are used to generate desired feasible trajectories that satisfy the dynamic constraints of the vehicles, and guarantee spatial separation between the paths for safe operation. Time coordination ensures that the temporal requirements of the mission are met. Collision avoidance with dynamic obstacles is achieved by properly adjusting the speed profiles of the vehicles along the corresponding paths. A simulation scenario is presented where three quadrotors are coordinating their positions along pre-computed paths, while at the same time avoiding moving objects. The results show that the integrated approach achieves time coordination along feasible paths, and that the collision avoidance algorithm allows for safe operation in the presence of moving obstacles.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference
DOIs
StatePublished - Feb 28 2014
EventAIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014 - National Harbor, MD, United States
Duration: Jan 13 2014Jan 17 2014

Publication series

NameAIAA Guidance, Navigation, and Control Conference

Other

OtherAIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014
CountryUnited States
CityNational Harbor, MD
Period1/13/141/17/14

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering

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  • Cite this

    Cichella, V., Choe, R., Mehdi, S. B., Xargay, E., Hovakimyan, N., Dobrokhodov, V., & Kaminer, I. (2014). Trajectory generation and collision avoidance for safe operation of cooperating UAVs. In AIAA Guidance, Navigation, and Control Conference (AIAA Guidance, Navigation, and Control Conference). https://doi.org/10.2514/6.2014-0972