Obstacle avoidance via B-spline parameterizations of flat trajectories
Systems and Control
2016-03-17 v1
Abstract
This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for trajectory generation and B-splines for the flat output parametrization. Using some important properties of these theoretical tools we show that the constraints can be validated at all times. Exact and sub-optimal constructions of the collision avoidance optimization problem are provided. The results are validated through extensive simulations over standard autonomous aerial vehicle dynamics.
Cite
@article{arxiv.1603.04911,
title = {Obstacle avoidance via B-spline parameterizations of flat trajectories},
author = {Florin Stoican and Vlad-Mihai Ivanusca and Ionela Prodan},
journal= {arXiv preprint arXiv:1603.04911},
year = {2016}
}
Comments
7 pages, 4 figure, submitted as regular conference paper to MED'16