Journal article
Cooperative Trajectory Generation Using Pythagorean Hodograph Bézier Curves
Journal of guidance, control, and dynamics, Vol.39(8), pp.1744-1763
08/2016
DOI: 10.2514/1.G001531
Abstract
This paper presents a cooperative trajectory-generation framework to efficiently compute a set of spatial trajectories for a team of cooperating vehicles: in particular, for unmanned aerial vehicles. The desired, feasible trajectories are generated using Pythagorean Hodograph Bézier curves, satisfy stringent spatial and temporal constraints, do not violate the dynamic constraints of the vehicles, and guarantee spatial deconfliction between the trajectories for safe operation. A multivehicle mission scenario is presented to show the efficacy of the proposed cooperative trajectory-generation framework.
Details
- Title: Subtitle
- Cooperative Trajectory Generation Using Pythagorean Hodograph Bézier Curves
- Creators
- Ronald Choe - University of Illinois at Urbana–Champaign, Urbana, Illinois 61801Javier Puig-Navarro - University of Illinois at Urbana–Champaign, Urbana, Illinois 61801Venanzio Cichella - University of Illinois at Urbana–Champaign, Urbana, Illinois 61801Enric Xargay - University of Illinois at Urbana–Champaign, Urbana, Illinois 61801Naira Hovakimyan - University of Illinois at Urbana–Champaign, Urbana, Illinois 61801
- Resource Type
- Journal article
- Publication Details
- Journal of guidance, control, and dynamics, Vol.39(8), pp.1744-1763
- DOI
- 10.2514/1.G001531
- ISSN
- 0731-5090
- eISSN
- 1533-3884
- Language
- English
- Date published
- 08/2016
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984064218802771
Metrics
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