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
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