Optimal Path Planning for Wheeled Robots
autonomous vehicles
robotics
optimal control
path planning
numerical methods
homotopy methods
Coming 1 February 2026
This article presents the steps involved in defining and solving an optimal path planning problem for a well-known car model. It examines common issues that arise when trying to solve the problem numerically and how to deal with them. Examples help to clarify the concepts. Get all the code here.
Model Predictive Control Basics
optimal control
model predictive control
tutorial
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