Approximate Time-Optimal Trajectories for Damped Double Integrator in 2D Obstacle Environments under Bounded Inputs

07/10/2020
by   Vishnu S. Chipade, et al.
0

This article provides extensions to existing path-velocity decomposition based time optimal trajectory planning algorithm <cit.> to scenarios in which agents move in 2D obstacle environment under double integrator dynamics with drag term (damped double integrator). Particularly, we extend the idea of a tangent graph <cit.> to ^1-Tangent graph to find continuously differentiable (^1) shortest path between any two points. ^1-Tangent graph has a continuously differentiable (^1) path between any two nodes. We also provide analytical expressions for a near time-optimal velocity profile for an agent moving on these shortest paths under the damped double integrator with bounded acceleration.

READ FULL TEXT

Please sign up or login with your details

Forgot password? Click here to reset