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

被引：141
|
作者：
Quang-Cuong Pham [1 ]
机构：
[1] Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore 639798, Singapore
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2014年 / 30卷 / 06期
关键词：
Motion planning; optimal control; robot control; ROBOTIC MANIPULATORS; OPTIMAL MOTIONS;
D O I：
10.1109/TRO.2014.2351113
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：1533 / 1540
页数：8
相关论文
共 50 条
  • [31] A time-optimal solution for the path cover problem on cographs
    Nakano, K
    Olariu, S
    Zomaya, AY
    THEORETICAL COMPUTER SCIENCE, 2003, 290 (03) : 1541 - 1556
  • [32] Time-optimal solution for the path cover problem on cographs
    Nakano, K.
    Olariu, S.
    Zomaya, A.Y.
    Proceedings of the International Parallel Processing Symposium, IPPS, 1999, : 26 - 30
  • [33] Conterweight synthesis for time-optimal robotic path following
    Debrouwere, Frederik
    Swevers, Jan
    2016 EUROPEAN CONTROL CONFERENCE (ECC), 2016, : 696 - 701
  • [34] On-Line Time-Optimal Path Tracking for Robots
    Verscheure, Diederik
    Diehl, Moritz
    De Schutter, Joris
    Swevers, Jan
    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 2009, : 610 - +
  • [35] Path-constrained time-optimal robot control
    Xie, Dongmei
    Qu, Daokui
    Xu, Fang
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, 2006, : 1095 - +
  • [36] Time-Optimal Path Tracking via Reachability Analysis
    Hung Pham
    Quang-Cuong Pham
    2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2018, : 3007 - 3012
  • [37] Path planning for cooperative time-optimal information collection
    Klesh, Andrew T.
    Kabamba, Pierre T.
    Girard, Anouck R.
    2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2008, : 1991 - 1996
  • [38] Time-Optimal Path Tracking for Jerk Controlled Robots
    Palleschi, Alessandro
    Garabini, Manolo
    Caporale, Danilo
    Pallottino, Lucia
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2019, 4 (04) : 3932 - 3939
  • [39] A time-optimal solution for the path cover problem on cographs
    Nakano, K
    Olariu, S
    Zomaya, AY
    IPPS/SPDP 1999: 13TH INTERNATIONAL PARALLEL PROCESSING SYMPOSIUM & 10TH SYMPOSIUM ON PARALLEL AND DISTRIBUTED PROCESSING, PROCEEDINGS, 1999, : 26 - 30
  • [40] Time-optimal stabilization for a third-order integrator: A robust state-feedback implementation
    Bartolini, G
    Pillosu, S
    Pisano, A
    Usai, E
    DYNAMICS, BIFURCATIONS AND CONTROL, 2002, 273 : 131 - 144
12345