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arXiv · 2007.05155

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

Vishnu S. Chipade·Dimitra Panagou
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Abstract

This article provides extensions to existing path-velocity decomposition based time optimal trajectory planning algorithm \cite{kant1986toward} 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 \cite{liu1992path} to $\calC^1$-Tangent graph to find continuously differentiable ($\calC^1$) shortest path between any two points. $\calC^1$-Tangent graph has a continuously differentiable ($\calC^1$) 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.

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Vishnu S. Chipade, Dimitra Panagou. 2020-07-13. Approximate Time-Optimal Trajectories for Damped Double Integrator in 2D Obstacle Environments under Bounded Inputs. https://arxiv.org/abs/2007.05155

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