A new approach to time-optimal path parameterization based on reachability analysis

• Main Authors: Pham, Hung, Pham, Quang-Cuong
• 其他作者: School of Mechanical and Aerospace Engineering
• 格式: Article
• 語言: English
• 出版: 2019
• 主題: Controllability; Motion Planning; DRNTU::Engineering::Mechanical engineering
• 在線閱讀: https://hdl.handle.net/10356/105499; http://hdl.handle.net/10220/47825

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). NIbased methods are fast but difficult to implement and suffer from...