'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Abstract
IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015 Seattle, WA, USAThis paper proposes a method called
Segmentation-adaptive Pseudospectral collocation to address
the problem of safe trajectory generation in missions with
cooperating multiple aerial vehicles. Pseudospectral collocation
can generate optimized collision-free trajectories, but for
multiple aerial vehicles it cannot guarantee that the safety
separation distance is maintained in the whole trajectories,
since the constraints are only enforced in discrete points in
the trajectory (collocation points). Hp-adaptive pseudospectral
collocation increases iteratively the number of collocation points
and the degree of the approximating polynomial, but this may
lead to an exponential increase of the computational load. The
proposed method solves the problem by selectively adding new
collocation points where they are needed, only in the segments
with conflicts in each iteration, thus effectively reducing
the number of collocation points and the computation time
with respect to other pseudospectral collocation formulations.
The proposed method allows both changes of speed and
changes of heading for each aerial vehicle to guarantee the
safety distance between them. Its computational load and
scalability are studied in randomly generated scenarios.
Moreover, a comparison with other method is presented.
Several experiments to test the validity of the approach have
been also carried out in the multivehicle aerial testbed of the
Center for Advanced Aerospace Technologies.Comisión europea FP7 ICT (288082)Junta de Andalucía P11-TIC-706