Title: Research on the trajectory planning of mobile robot based on MPC and ant colony

Authors: Yunfei Huang; Yubin Zhang; Qiaoling Lu; Jianhui Deng; Zhengyang Xiao; Junxi Liang; Wende Ke

Addresses: Dongguan Power Supply Bureau, Dongguan 523000, China ' Dongguan Power Supply Bureau, Dongguan 523000, China ' Dongguan Power Supply Bureau, Dongguan 523000, China ' Dongguan Power Supply Bureau, Dongguan 523000, China ' Dongguan Power Supply Bureau, Dongguan 523000, China ' Dongguan Power Transmission and Transformation Engineering Construction Co., Ltd, Dongguan 523000, China ' Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China

Abstract: Owing to the complex mechanical structure and transmission mode of mobile robots, their trajectory tracking control belongs to nonlinear control methods. Using the MPC (Model Predictive Control) method, nonlinear control is transformed into linear control and constrained to achieve feasible control of trajectory tracking. Then, the grid map is constructed for the mobile robot, and the ant colony optimisation algorithms is introduced to design the shortest path that meets the requirements of traversing path nodes. In the experiment, by adjusting the number of ants and the number of iterations, different shortest path planning effects can be analysed and compared. Simulation experiments have verified the feasibility of the method.

Keywords: mobile robots; linear control; grid map; ant colony.

DOI: 10.1504/IJWMC.2026.155721

International Journal of Wireless and Mobile Computing, 2026 Vol.31 No.2, pp.180 - 186

Received: 20 Mar 2024
Accepted: 05 Aug 2024
Published online: 11 Aug 2026 *

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