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

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.

7 pages, 5 figures, 4 tables

Cited by in corpus (8)

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• Asymptotic Optimality of a Time Optimal Path Parametrization Algorithm
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• Admissible Velocity Propagation : Beyond Quasi-Static Path Planning for High-Dimensional Robots
• Time-Optimal Path Tracking with ISO Safety Guarantees