Collision-free path and trajectory planning algorithm for multiple-vehicle systems

An algorithm to generate collision-free paths and trajectories multiple-vehicle systems is presented. The algorithm is utilized to solve a problem of planning collision-free paths and trajectories of all the vehicles from their start points to goal points. Three-degree Bezier curves are utilized as the basic forms of the paths. Trajectories are generated subject to linear velocity, tangential velocity, and radial accelerations constraints of each vehicle. The presence of known static obstacles is considered. A Particle Swarm Optimization (PSO) technique is utilized to figure out the trajectories which minimize the accomplishing time of the slowest vehicle. Moreover, trajectories drive all vehicles to avoid collision to each other. Simulation results that show the trajectories of three vehicles are presented.