On the Application of Model Predictive Control to a Weighted Coverage Path Planning Problem
Abstract
This paper considers the application of Model Predictive Control (MPC) to a weighted coverage path planning (WCPP) problem. The problem appears in a wide range of practical applications, including search and rescue (SAR) missions. The basic setup is that one (or multiple) agents can move around a given search space and collect rewards from a given spatial distribution. Unlike an artificial potential field, each reward can only be collected once. In contrast to a Traveling Salesman Problem (TSP), the agent moves in a continuous space. Moreover, he is not obliged to cover all locations and/or may return to previously visited locations. The WCPP problem is tackled by a new Model Predictive Control (MPC) formulation with so-called Coverage Constraints (CCs). It is shown that the solution becomes more effective if the solver is initialized with a TSP-based heuristic. With and without this initialization, the proposed MPC approach clearly outperforms a naive MPC formulation, as demonstrated in a small simulation study.
Cite
@article{arxiv.2411.08634,
title = {On the Application of Model Predictive Control to a Weighted Coverage Path Planning Problem},
author = {Kilian Schweppe and Ludmila Moshagen and Georg Schildbach},
journal= {arXiv preprint arXiv:2411.08634},
year = {2025}
}