Trajectory generation using spatial Pythagorean hodograph Bézier curves

Ronald Choe, Javier Puig-Navarro, Venanzio Cichella, Enric Xargay, Naira Hovakimyan

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

Abstract

This paper presents a cooperative trajectory-generation framework that efficiently computes a set of spatial trajectories for a team of cooperating vehicles, and in particular for unmanned aerial vehicles. The desired and feasible trajectories are generated using Pythagorean Hodograph Bézier curves and satisfy stringent spatial and temporal constraints, do not violate the dynamic constraints of the vehicles, and guarantee spatial separation between the paths for safe operation. A simulation scenario is presented to show the efficacy of the proposed cooperative trajectory-generation framework.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Electronic)9781510801097
StatePublished - Jan 1 2015
EventAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015 - Kissimmee, United States
Duration: Jan 5 2015Jan 9 2015

Publication series

NameAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015

Other

OtherAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
CountryUnited States
CityKissimmee
Period1/5/151/9/15

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Aerospace Engineering
  • Control and Systems Engineering

Cite this

Choe, R., Puig-Navarro, J., Cichella, V., Xargay, E., & Hovakimyan, N. (2015). Trajectory generation using spatial Pythagorean hodograph Bézier curves. In AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015 (AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015). American Institute of Aeronautics and Astronautics Inc..