Development of Local Path Planning Using Selective Model Predictive Control, Potential Fields, and Particle Swarm Optimization

Development of Local Path Planning Using Selective Model Predictive Control, Potential Fields, and Particle Swarm Optimization

This paper focuses on the real-time obstacle avoidance and safe navigation of autonomous ground vehicles (AGVs). It introduces the Selective MPC-PF-PSO algorithm, which includes model predictive control (MPC), Artificial Potential Fields (APFs), and particle swarm optimization (PSO). This approach i...

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Bibliographic Details
Main Authors: Mingeuk Kim, Minyoung Lee, Byeongjin Kim, Moohyun Cha
Format: Article
Language:English
Published: MDPI AG 2024-03-01
Series:Robotics
Subjects:
autonomous ground vehicle
path planning
model predictive control
particle swarm optimization
potential field
driving simulation
Online Access:https://www.mdpi.com/2218-6581/13/3/46

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