Optimized Model Predictive Control-Based Path Planning for Multiple Wheeled Mobile Robots in Uncertain Environments

Optimized Model Predictive Control-Based Path Planning for Multiple Wheeled Mobile Robots in Uncertain Environments

Addressing the path planning problem for multiple wheeled mobile robots (WMRs) in uncertain environments, this paper proposes a multi-WMR path planning algorithm based on the fusion of artificial potential field and model predictive control. Firstly, an artificial potential field model for uncertain...

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Bibliographic Details
Main Authors: Yang She, Chao Song, Zetian Sun, Bo Li
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Drones
Subjects:
multi-WMR
artificial potential field
MPC
leader–follower
Online Access:https://www.mdpi.com/2504-446X/9/1/39
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