Quadratic Bezier Curves for Multi-Agent Coordinated Arrival in the Presence of Obstacles. Manyam, S. G., Casbeer, D., Weintraub, I. E., Tran, D. M., Bradley, J. M., & Darbha, S. In AIAA Scitech 2021 Forum, 2021. tex.eprint: https://arc.aiaa.org/doi/pdf/10.2514/6.2021-1879
We consider a multiple vehicle path planning problem with curvature constraints in the presence of obstacles, where multiple vehicles need to arrive at a given final location simultaneously. We aim to find the paths using a simplex framework that tessellates the feasible regions into hexagonal grids from which a graph is abstracted with nodes at the mid-point of every hexagon edge. The graph edges are defined over the adjacent nodes of the hexagons and each edge corresponds to a quadratic Bezier curve. We present an algorithm that finds the shortest path for each vehicle, and a path perturbation technique to make the path lengths equal with in a given error tolerance. We test the proposed approach using simulated scenarios and present the results.
@inproceedings{manyam2021quadratic,
title = {Quadratic {Bezier} {Curves} for {Multi}-{Agent} {Coordinated} {Arrival} in the {Presence} of {Obstacles}},
url = {https://arc.aiaa.org/doi/abs/10.2514/6.2021-1879},
doi = {10.2514/6.2021-1879},
abstract = {We consider a multiple vehicle path planning problem with curvature constraints in the presence of obstacles, where multiple vehicles need to arrive at a given final location simultaneously. We aim to find the paths using a simplex framework that tessellates the feasible regions into hexagonal grids from which a graph is abstracted with nodes at the mid-point of every hexagon edge. The graph edges are defined over the adjacent nodes of the hexagons and each edge corresponds to a quadratic Bezier curve. We present an algorithm that finds the shortest path for each vehicle, and a path perturbation technique to make the path lengths equal with in a given error tolerance. We test the proposed approach using simulated scenarios and present the results.},
booktitle = {{AIAA} {Scitech} 2021 {Forum}},
author = {Manyam, Satyanarayana G. and Casbeer, David and Weintraub, Isaac E. and Tran, Dzung M. and Bradley, Justin M. and Darbha, Swaroop},
year = {2021},
note = {tex.eprint: https://arc.aiaa.org/doi/pdf/10.2514/6.2021-1879},
}