Navigating Discrete Difference Equation Governed WMR by Virtual Linear Leader Guided HMPC
Chao Huang,Xin Chen,Enyi Tang,Mengda He,Lei Bu,Shengchao Qin,Yifeng Zeng,Chao Huang,Xin Chen,Enyi Tang,Mengda He,Lei Bu,Shengchao Qin,Yifeng Zeng
In this paper, we revisit model predictive control (MPC) for the classical wheeled mobile robot (WMR) navigation problem. We prove that the reachable set based hierarchical MPC (HMPC), a state-of-the-art MPC, cannot handle WMR navigation in theory due to the non-existence of non-trivial linear system with an under-approximate reachable set of WMR. Nevertheless, we propose a virtual linear leader g...
