ArticleSensors (Basel, Switzerland)2025
Autonomous Navigation of Mobile Robots: A Hierarchical Planning-Control Framework with Integrated DWA and MPC.
Article in Sensors (Basel, Switzerland), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- An Enhanced A*-DWA Fusion Algorithm for Robot Navigation in Complex Environments.Biomimetics (Basel, Switzerland) · 2026Article
- Robust Model Predictive Control with a Dynamic Look-Ahead Re-Entry Strategy for Trajectory Tracking of Differential-Drive Robots.Sensors (Basel, Switzerland) · 2026Article
- Synergistic Hierarchical AI Framework for USV Navigation: Closing the Loop Between Swin-Transformer Perception, T-ASTAR Planning, and Energy-Aware TD3 Control.Sensors (Basel, Switzerland) · 2025Article
- Comparison of Two System Identification Approaches for a Four-Wheel Differential Robot Based on Velocity Command Execution.Sensors (Basel, Switzerland) · 2025Article
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Authors and funding
5 authors.
Funding
Abstract
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 planning-control framework. The proposed framework explicitly incorporates path tracking constraints during path generation while simultaneously considering path characteristics in the control process. The framework comprises two principal components: (1) an enhanced Dynamic Window Approach (DWA) for the local path planning module, introducing adaptive sub-goal selection method and improved path evaluation functions; and (2) a modified Model Predictive Control (MPC) for the path tracking module, with a curvature-based reference state online changing strategy. Comprehensive simulation and real-world experiments demonstrate the framework's operational advantages over conventional methods.
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Registered trials
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