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

∙

share

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.