Real-time Trajectory Generation for Multiple Drones using Bézier Curves

Sabetghadam, Bahareh; Cunha, Rita; Pascoal, A.

doi:10.1016/j.ifacol.2020.12.2380

Cited by 15 publications

(7 citation statements)

References 10 publications

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“…where φ cl is simply τ 2 cl according to Equation (31) and with τ cl given in Equation ( 54), φ cl becomes…”

Section: Maximum Angle α T Between Legsmentioning

confidence: 99%

Online Deterministic 3D Trajectory Generation for Electric Vertical Take-Off and Landing Aircraft

Mbikayi,

Steinert,

Heimsch

et al. 2024

Aerospace

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The use of non-piloted eVTOL aircraft in non-segregated airspace requires reliable and deterministic automatic flight guidance systems for the aircraft to remain predictable to all the users of the airspace and maintain a high level of safety. In this paper we present a 3D trajectory generation module based on clothoid transition segments in the horizontal plane and high order polynomial transition segments in the vertical plane. The expressions of the coefficients of the polynomial are derived offline are used to generate the trajectory online, making the system capable of running in real time without requiring enormous computational power. For the horizontal plane, we focus on the flyby transition, and therefore present a thorough analysis of the flyby geometry and the limitations linked to this geometry and the construct of three-segment trajectory generation around a fixed turn rate. We present feasible solutions for these limitations, and show simulation results for the combined horizontal and vertical plane concepts, allowing the system to generate complex 3D trajectories.

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“…where φ cl is simply τ 2 cl according to Equation (31) and with τ cl given in Equation ( 54), φ cl becomes…”

Section: Maximum Angle α T Between Legsmentioning

confidence: 99%

Online Deterministic 3D Trajectory Generation for Electric Vertical Take-Off and Landing Aircraft

Mbikayi,

Steinert,

Heimsch

et al. 2024

Aerospace

View full text Add to dashboard Cite

show abstract

“…Using recursive subdivsion of h(τ) to reduce the conservatism in the finite set of constraints results in an increase in the number of constraints; hence, a trade-off has to be made between the computational effort and the conservatism. Nevertheless, the optimization variables remain the same [36].…”

Section: Evaluating Inequalities In Bézier Formmentioning

confidence: 99%

A Distributed Algorithm for Real-Time Multi-Drone Collision-Free Trajectory Replanning

Sabetghadam

Cunha

Pascoal

2022

Sensors

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In this paper, we present a distributed algorithm to generate collision-free trajectories for a group of quadrotors flying through a common workspace. In the setup adopted, each vehicle replans its trajectory, in a receding horizon manner, by solving a small-scale optimization problem that only involves its own individual variables. We adopt the Voronoi partitioning of space to derive local constraints that guarantee collision avoidance with all neighbors for a certain time horizon. The obtained set of collision avoidance constraints explicitly takes into account the vehicle’s orientation to avoid infeasiblity issues caused by ignoring the quadrotor’s rotational motion. Moreover, the resulting constraints can be expressed as Bézier curves, and thus can be evaluated efficiently, without discretization, to ensure that collision avoidance requirements are satisfied at any time instant, even for an extended planning horizon. The proposed approach is validated through extensive simulations with up to 100 drones. The results show that the proposed method has a higher success rate at finding collision-free trajectories for large groups of drones compared to other Voronoi diagram-based methods.

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“…In the following, a quadrotor is considered, with the projection sample shown in figure 1. The trajectory of the center of the drone's local coordinates is described with a third-order Bezier curve [17][18][19], which is constructed from four points in the space: A, B, C, and D (figure 2). Points A and D are the start and the end of the trajectory, respectively.…”

Section: Simulation Model Descriptionmentioning

confidence: 99%

Computer simulation of the physical neutralization of drones in a Smart City

Tovarnov

Bykov

Vlasova

et al. 2022

J. Phys.: Conf. Ser.

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We present a simple computer simulation model for the interaction of automatic guns with unarmed drones. Each drone is represented as a rigid body that consists of several simple bodies such as parallelepipeds, ellipsoids, etc. The simplified spatial trajectory of the drone is constructed using third-order Bezier curves. A relatively large group of unconnected drones may be simulated in a computationally fast way using this method. Automatic guns are agents that are shooting at drones with a single of burst fire relative to the ideal aiming point. We performed a simulation of the flight of several drones against several automatic guns for different conditions. As a result of this simulation, the spatial distribution of the drone hit probabilities, the special distribution of the fraction of defeated drones depending on the number of guns, and the influence of urban obstacles on the fraction of drones defeated are presented.

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Real-time Trajectory Generation for Multiple Drones using Bézier Curves

Cited by 15 publications

References 10 publications

Online Deterministic 3D Trajectory Generation for Electric Vertical Take-Off and Landing Aircraft

Online Deterministic 3D Trajectory Generation for Electric Vertical Take-Off and Landing Aircraft

A Distributed Algorithm for Real-Time Multi-Drone Collision-Free Trajectory Replanning

Computer simulation of the physical neutralization of drones in a Smart City

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