Trajectory generation using spatial pythagorean hodograph bézier curves

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

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 proceeding › Conference contribution

Abstract

This paper presents a cooperative trajectory-generation framework that efficiently com-putes 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 con-straints, 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 language	English (US)
Title of host publication	AIAA Guidance, Navigation, and Control Conference
Publisher	American Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)	9781624103391
State	Published - Jan 1 2015
Event	AIAA Guidance, Navigation, and Control Conference, 2015 - Kissimmee, United States Duration: Jan 5 2015 → Jan 9 2015

Publication series

Name	AIAA Guidance, Navigation, and Control Conference, 2013

Other

Other	AIAA Guidance, Navigation, and Control Conference, 2015
Country	United States
City	Kissimmee
Period	1/5/15 → 1/9/15

ASJC Scopus subject areas

Electrical and Electronic Engineering
Aerospace Engineering
Control and Systems Engineering

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Trajectory generation using spatial pythagorean hodograph bézier curves. / Choe, Ronald; Puig-Navarro, Javier; Cichella, Venanzio; Xargay, Enric; Hovakimyan, Naira.

AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA, 2015. (AIAA Guidance, Navigation, and Control Conference, 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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. AIAA Guidance, Navigation, and Control Conference, 2013, American Institute of Aeronautics and Astronautics Inc, AIAA, AIAA Guidance, Navigation, and Control Conference, 2015, Kissimmee, United States, 1/5/15.

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AB - This paper presents a cooperative trajectory-generation framework that efficiently com-putes 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 con-straints, 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.

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