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 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 languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624103391
StatePublished - Jan 1 2015
EventAIAA Guidance, Navigation, and Control Conference, 2015 - Kissimmee, United States
Duration: Jan 5 2015Jan 9 2015

Publication series

NameAIAA Guidance, Navigation, and Control Conference, 2013

Other

OtherAIAA Guidance, Navigation, and Control Conference, 2015
CountryUnited States
CityKissimmee
Period1/5/151/9/15

ASJC Scopus subject areas

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

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  • 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.