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arXiv · 1603.04911

Obstacle avoidance via B-spline parameterizations of flat trajectories

Florin Stoican·Vlad-Mihai Ivanusca·Ionela Prodan
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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.

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Florin Stoican, Vlad-Mihai Ivanusca, Ionela Prodan. 2016-03-15. Obstacle avoidance via B-spline parameterizations of flat trajectories. https://arxiv.org/abs/1603.04911

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