| 标题 |
An Approach to Time-Optimal Path Parameterization with Jerk Constraints based on Reachability Analysis
基于可达性分析的加急约束时间最优路径参数化方法
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| 其它 |
Abstract—Time-optimal path parameterization(TOPP) subject to second-order constraints is an important and well-studied problem in robotics, while TOPP subject to third-order constraints remains relatively open to be studied. Among all the studies on TOPP with third-order constraints, there is few result for extending the approach to TOPP based on reachability analysis to the problem with third-order constraints. In this paper, we have proposed a new method to approximate third-order constraints to linear form and reformulate the problem into a sub-problem of convex optimization based on reachability analysis. Experiments shows that the approximate optimal solution to the problem provided by this new method can effectively band the jerk on discrete path positions within imposed third-order constraints. |
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