arXiv Open Access 2013

A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm

Quang-Cuong Pham

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Abstrak

Finding the Time-Optimal Parameterization of a given Path (TOPP) subject to kinodynamic constraints is an essential component in many robotic theories and applications. The objective of this article is to provide a general, fast and robust implementation of this component. For this, we give a complete solution to the issue of dynamic singularities, which are the main cause of failure in existing implementations. We then present an open-source implementation of the algorithm in C++/Python and demonstrate its robustness and speed in various robotics settings.

Topik & Kata Kunci

cs.RO

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Quang-Cuong Pham

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Pham, Q. (2013). A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm. https://arxiv.org/abs/1312.6533

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Tahun Terbit: 2013
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓