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arXiv · 1609.05307

On the Structure of the Time-Optimal Path Parameterization Problem with Third-Order Constraints

Hung Pham·Quang-Cuong Pham
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Abstract

Finding the Time-Optimal Parameterization of a Path (TOPP) subject to second-order constraints (e.g. acceleration, torque, contact stability, etc.) is an important and well-studied problem in robotics. In comparison, TOPP subject to third-order constraints (e.g. jerk, torque rate, etc.) has received far less attention and remains largely open. In this paper, we investigate the structure of the TOPP problem with third-order constraints. In particular, we identify two major difficulties: (i) how to smoothly connect optimal profiles, and (ii) how to address singularities, which stop profile integration prematurely. We propose a new algorithm, TOPP3, which addresses these two difficulties and thereby constitutes an important milestone towards an efficient computational solution to TOPP with third-order constraints.

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Hung Pham, Quang-Cuong Pham. 2017-09-19. On the Structure of the Time-Optimal Path Parameterization Problem with Third-Order Constraints. https://doi.org/10.1109/icra.2017.7989084

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