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

Finding the time-optimal parameterization of a given path subject to kinodynamic constraints is an essential component in many robotic theories and applications. The objective of this paper is to provide a general, fast, and robust implementation of this component. For this, we give a complete solut...

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Bibliographic Details
Published inIEEE transactions on robotics Vol. 30; no. 6; pp. 1533 - 1540
Main Author Pham, Quang-Cuong
Format Journal Article
LanguageEnglish
Published New York IEEE 01.12.2014
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Algorithms
Dynamics
Failure
Freeware
Motion control
Motion planning
Open source software
Optimal control
Parameter optimization
Parametrization
Programming languages
Robot control
Robotics
Robustness
Singularities
Trajectory
Motion planning
robot control
optimal control
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ISSN1552-3098
1941-0468
DOI10.1109/TRO.2014.2351113

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Summary:Finding the time-optimal parameterization of a given path subject to kinodynamic constraints is an essential component in many robotic theories and applications. The objective of this paper 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.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2014.2351113