An optimal time model for the DCV trajectory planning

An optimal time model for the path planning is proposed in this paper. In this model, the trajectory planning based on an optimal time which limited by the maximal velocity and acceleration. Considering the optimal time planning in the acceleration level, the velocity planning is divided into three segments, namely, acceleration segment, constant segment, and deceleration segment. Besides, we construct the optimal time model based on the simulations and engineering applications. At the end of this paper, simulation and experimental results are also shown to verify this optimal time model.