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Optimize path for time not for distance?

Hi folks,

is there a way to tell a planner not to generate the shortest path but instead the fastest (regarding required time) to get from point A to point B?

At the moment my robot always attempts to take the shortest path to point B which sometimes leads him through narrow spaces where he slows down to a minimum speed. Instead there would have been another path (taking any known obstacle into account) that would have been much more secure and much faster to reach the goal while reducing the risk of colliding with obstacles.

So how do I tell my robot to take the fastest path instead of the shortest?

Thanks a lot!