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arXiv · 1312.6533

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

Quang-Cuong Pham
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Abstract

Finding the Time-Optimal Parameterization of a given Path (TOPP) subject to kinodynamic constraints is an essential component in many robotic theories and applications. The objective of this article 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.

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Quang-Cuong Pham. 2014-09-23. A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm. https://doi.org/10.1109/tro.2014.2351113

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