Grid-Based Receding Horizon Control for Unicycle Robots Under Logistic Operations

摘要

In this paper a novel Grid-based Receding Horizon Control strategy for fleet of unicycle robots within the dynamic context of Industry 5.0 environments is developed. The control architecture leverages grid-based mapping for path planning while incorporating a receding horizon control mechanism to enhance navigational efficiency and adaptability in environments characterized by uncertainty and dynamic obstacles. Specifically, the approach addresses the challenge of non-holonomic constraints in unicycle robots by resorting on feedback-linearization method and ensures safe and real-time navigation by means of set-theoretic arguments. Simulation results validate the effectiveness of the proposed controller in maintaining path fidelity, avoiding obstacles and inter-robot collisions dynamically.