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.
I want to try to apply mpc local planner to a 4-wheel steering robot and observe the effect of path planning, but,the examples are all for differential or car-like robots , not 4-wheel steering robot.
What should I do to make it work with 4 wheel steer vehicle configuration?？Does anyone know how to do this？
I recently referenced four wheel steering robot simulation: https://www.youtube.com/watch?v=4_bftUbQTaM&t=91s
I want to try to apply mpc local planner to a 4-wheel steering robot and observe the effect of path planning, but,the examples are all for differential or car-like robots , not 4-wheel steering robot.
What should I do to make it work with 4 wheel steer vehicle configuration?？Does anyone know how to do this？