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

• Main Authors: Pham, Hung, Pham, Quang-Cuong
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2019
• Subjects: Controllability; Motion Planning; DRNTU::Engineering::Mechanical engineering
• Online Access: https://hdl.handle.net/10356/105499; http://hdl.handle.net/10220/47825
• Institution: Nanyang Technological University

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...