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This paper addresses the challenge of tracking waypoint paths with a planar double-integrator system subject to speed and acceleration constraints, particularly in scenarios with sharp turns and high-curvature regions generated by sampling-based planners. They introduce an offline speed-scaling method based on evaluating a one-step acceleration margin along a spline fitted to the waypoint path, ensuring that the required acceleration remains within bounds. The approach uses a reachability-guided quadratic program (QP) tracker with a one-step acceleration margin for both offline speed scaling and online tracking of the scaled reference.
Naive path tracking around obstacles can demand impossible accelerations; this work pre-computes a speed scaling profile that respects acceleration limits, enabling reliable execution.
This paper studies tracking of collision-free waypoint paths produced by an offline planner for a planar double-integrator system with bounded speed and acceleration. Because sampling-based planners must route around obstacles, the resulting waypoint paths can contain sharp turns and high-curvature regions, so one-step reachability under acceleration limits becomes critical even when the path geometry is collision-free. We build on a pure-pursuit-style, reachability-guided quadratic-program (QP) tracker with a one-step acceleration margin. Offline, we evaluate this margin along a spline fitted to the waypoint path and update a scalar speed-scaling profile so that the required one-step acceleration remains below the available bound. Online, the same look-ahead tracking structure is used to track the scaled reference.