Generation of temporal-spatial Bezier curve for simultaneous arrival of multiple unmanned vehicles

This paper investigates simultaneous arrival planning of multiple unmanned vehicles. Problem of simultaneous arrival planning is introduced and formulated. First, a Temporal-Spatial (T-S) Bezier curve is constructed by considering time as a one-dimensional variable of Bezier curve. Second, constraints of minimum curvature radius, tangent acceleration and velocity are addressed to design the suboptimal T-S Bezier curve. Subsequently, the suboptimal simultaneous arrival time for multiple unmanned vehicles is calculated and obtained. Finally, simultaneous arrival planning by using a T-S Bezier is summarized. Simulations and comparisons are conducted to demonstrate the effectiveness of the proposed method.