有界入力下の2次元障害物環境における減衰二重積分系の近似時間最適軌道
Approximate Time-Optimal Trajectories for Damped Double Integrator in 2D Obstacle Environments under Bounded Inputs
2次元障害物環境で減衰付き二重積分系エージェントの時間最適軌道計画のため、C1接線グラフで最短経路を求め、有界加速度下で解析的な準最適速度プロファイルを導出した。
著者: Vishnu S. Chipade, Dimitra Panagou
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
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.
