Approximate Time-Optimal Trajectories for Damped Double Integrator in 2D Obstacle Environments under Bounded Inputs
Approximate Time-Optimal Trajectories for Damped Double Integrator in 2D Obstacle Environments under Bounded Inputs
复制标题
有界输入下二维障碍环境中阻尼双积分器的近似时间最优轨迹
DOI：
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发表时间：
2020
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通讯作者：
Dimitra Panagou
中科院分区：
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作者：
Vishnu S. Chipade;Dimitra Panagou
本文提供了现有的路径速度分解为基础的时间最优轨迹规划算法\cite{kant 1986 toward}的情况下，智能体在二维障碍物环境下移动的双积分动力学与阻力项（阻尼双积分）。特别地，我们将切线图\cite{liu 1992 path}的思想扩展到$\calC^1$-Tangent图，以寻找任意两点之间的连续可微（$\calC^1$）最短路径。$\calC^1$-切线图在任意两个节点之间有一条连续可微（$\calC^1$）路径。我们还提供了一个近时间最优的速度分布的代理移动这些最短路径下的阻尼双积分有界加速度的解析表达式。
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.