The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.
Why all three of them can be members of mpc, as you wrote it in the paper.
DWA
For example the dynamic window approach (DWA) [11] can be interpreted as a special receding horizon MPC scheme [12].
TEB
Another approach is the Timed-Elastic-Band (TEB) approach, which was originally derived as a scalarized multi-objective least squares optimization [13]. It can also be derived from a time-optimal control problem as shown in the right of Fig. 1.
[1] C. Rösmann, A. Makarow, and T. Bertram: Online Motion Planning based on Nonlinear Model Predictive Control with Non-Euclidean Rotation Groups, arXiv:2006.03534 '[cs.RO]', June 2020.
Why all three of them can be members of mpc, as you wrote it in the paper. DWA For example the dynamic window approach (DWA) [11] can be interpreted as a special receding horizon MPC scheme [12]. TEB Another approach is the Timed-Elastic-Band (TEB) approach, which was originally derived as a scalarized multi-objective least squares optimization [13]. It can also be derived from a time-optimal control problem as shown in the right of Fig. 1.
[1] C. Rösmann, A. Makarow, and T. Bertram: Online Motion Planning based on Nonlinear Model Predictive Control with Non-Euclidean Rotation Groups, arXiv:2006.03534 '[cs.RO]', June 2020.