Papers › Dynamic Objective MPC for Motion Planning of Seamless Docking Maneuvers
Dynamic Objective MPC for Motion Planning of Seamless Docking Maneuvers
Oliver Schumann, Michael Buchholz, Klaus Dietmayer
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
Automated vehicles and logistics robots must often position themselves in narrow environments with high precision in front of a specific target, such as a package or their charging station. Often, these docking scenarios are solved in two steps: path following and rough positioning followed by a high-precision motion planning algorithm. This can generate suboptimal trajectories caused by bad positioning in the first phase and, therefore, prolong the time it takes to reach the goal. In this work, we propose a unified approach, which is based on a Model Predictive Control (MPC) that unifies the advantages of Model Predictive Contouring Control (MPCC) with a Cartesian MPC to reach a specific goal pose. The paper's main contributions are the adaption of the dynamic weight allocation method to reach path ends and goal poses inside driving corridors, and the development of the so-called dynamic objective MPC. The latter is an improvement of the dynamic weight allocation method, which can inherently switch state-dependent from an MPCC to a Cartesian MPC to solve the path-following problem and the high-precision positioning tasks independently of the location of the goal pose seamlessly by one algorithm. This leads to foresighted, feasible, and safe motion plans, which can decrease the mission time and result in smoother trajectories.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections