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.