Event-Based Trajectory Planning for 3D Collision Avoidance in a Leader-Follower Formation

This paper proposes an event-based method for the collision avoidance in a leader-follower configuration of mobile objects. The vehicles are controlled locally and connected via a communication network. Leader and follower can move autonomously or in a formation while maintaining a safety distance. As the leader can change its trajectory at any time, the follower is provided with an event-based unit, which predicts the uncertain leader movement and invokes communication whenever an event threshold indicates that the information about the leader trajectory is too uncertain to guarantee collision avoidance. The follower trajectory is adapted to the new information so as to maintain the safety distance or to approach a formation. In contrast to the literature, this approach is performed by adapting trajectories to the control goal with a low communication effort. The benefits of the method are demonstrated by a simulation study with two quadrotors.