A New Approach to Time-Optimal Path Parameterization Based on Reachability Analysis

@article{Pham2018ANA,
  title={A New Approach to Time-Optimal Path Parameterization Based on Reachability Analysis},
  author={Hung Pham and Quang-Cuong Pham},
  journal={IEEE Transactions on Robotics},
  year={2018},
  volume={34},
  pages={645-659}
}
Time-optimal path parameterization (TOPP) is a well-studied problem in robotics and has a wide range of applications. There are two main families of methods to address TOPP: numerical integration (NI) and convex optimization (CO). The NI-based methods are fast but difficult to implement and suffer from robustness issues, while CO-based approaches are more robust but, at the same time, significantly slower. Here, we propose a new approach to TOPP based on reachability analysis. The key insight… CONTINUE READING
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