Trajectory Optimization For Rendezvous Planning Using Quadratic Bézier Curves
Satyanarayana G. Manyam,David W. Casbeer,Isaac E. Weintraub,Colin Taylor,Satyanarayana G. Manyam,David W. Casbeer,Isaac E. Weintraub,Colin Taylor
In this paper, we consider a trajectory planning problem where an autonomous vehicle aims to rendezvous with another cooperating vehicle in minimum time. The first vehicle has kinematic constraints, consequently feasible trajectories must have a maximum curvature less than a specified limit. Rendezvous is said to occur at the instant that the two vehicles are collocated with the same heading. We p...
