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) |
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| 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 |
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Other
| Other | AIAA Guidance, Navigation, and Control Conference, 2015 |
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| Country | United States |
| City | Kissimmee |
| Period | 1/5/15 → 1/9/15 |
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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 (AIAA Guidance, Navigation, and Control Conference, 2013). American Institute of Aeronautics and Astronautics Inc, AIAA.