TY - GEN
T1 - Trajectory generation using spatial pythagorean hodograph bézier curves
AU - Choe, Ronald
AU - Puig-Navarro, Javier
AU - Cichella, Venanzio
AU - Xargay, Enric
AU - Hovakimyan, Naira
N1 - Publisher Copyright:
© 2015, American Institute of Aeronautics and Astronautics Inc. All rights reserved.
PY - 2015
Y1 - 2015
N2 - 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.
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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M3 - Conference contribution
AN - SCOPUS:85027294488
SN - 9781624103391
T3 - AIAA Guidance, Navigation, and Control Conference, 2013
BT - AIAA Guidance, Navigation, and Control Conference
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA Guidance, Navigation, and Control Conference, 2015
Y2 - 5 January 2015 through 9 January 2015
ER -