Autonomous Navigation of Mobile Robots: A Hierarchical Planning–Control Framework with Integrated DWA and MPC

Autonomous Navigation of Mobile Robots: A Hierarchical Planning–Control Framework with Integrated DWA and MPC

In human–robot collaborative environments, the inherent complexity of shared operational spaces imposes dual requirements on process safety and task execution efficiency. To address the limitations of conventional approaches that decouple planning and control modules, we propose a hierarchical plann...

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Bibliographic Details
Main Authors: Zhongrui Wang, Shuting Wang, Yuanlong Xie, Tifan Xiong, Chao Wang
Format: Article
Language:English
Published: MDPI AG 2025-03-01
Series:Sensors
Subjects:
mobile robot
path planning
tracking control
Dynamic Window Approach
Model Predictive Control
Online Access:https://www.mdpi.com/1424-8220/25/7/2014
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