TY - GEN
T1 - Trajectory generation and collision avoidance for safe operation of cooperating UAVs
AU - Cichella, Venanzio
AU - Choe, Ronald
AU - Mehdi, S. Bilal
AU - Xargay, Enric
AU - Hovakimyan, Naira
AU - Dobrokhodov, Vladimir
AU - Kaminer, Isaac
N1 - ∗Research is supported by NASA and AFOSR. †Doctoral Student, Dept. of Mechanical Science and Engineering, Student Member AIAA; [email protected]. ‡Doctoral Student, Dept. of Aerospace Engineering, Student Member AIAA; [email protected]. §Doctoral Student, Dept. of Mechanical Science and Engineering, Student Member AIAA; [email protected]. ¶Postdoctoral Research Associate, Dept. of Mechanical Science and Engineering, Member AIAA; [email protected]. ‖Professor, Dept. of Mechanical Science and Engineering, Associate Fellow AIAA; [email protected]. ∗∗Research Associate Professor, Dept. of Mechanical and Aerospace Engineering, Member AIAA; [email protected] ††Professor, Dept. of Mechanical and Aerospace Engineering, Member AIAA; [email protected]
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84894483204
UR - https://www.scopus.com/pages/publications/84894483204#tab=citedBy
U2 - 10.2514/6.2014-0972
DO - 10.2514/6.2014-0972
M3 - Conference contribution
AN - SCOPUS:84894483204
SN - 9781600869624
T3 - AIAA Guidance, Navigation, and Control Conference
BT - AIAA Guidance, Navigation, and Control Conference
T2 - AIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014
Y2 - 13 January 2014 through 17 January 2014
ER -