Collision-Free Navigation of Mobile Robots via Quadtree-Based Model Predictive Control
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866909908141604864 |
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| author | Ali, Osama Al Sheikh Koutsoftas, Sotiris Zhang, Ze Akesson, Knut Dean, Emmanuel |
| author_facet | Ali, Osama Al Sheikh Koutsoftas, Sotiris Zhang, Ze Akesson, Knut Dean, Emmanuel |
| contents | This paper presents an integrated navigation framework for Autonomous Mobile Robots (AMRs) that unifies environment representation, trajectory generation, and Model Predictive Control (MPC). The proposed approach incorporates a quadtree-based method to generate structured, axis-aligned collision-free regions from occupancy maps. These regions serve as both a basis for developing safe corridors and as linear constraints within the MPC formulation, enabling efficient and reliable navigation without requiring direct obstacle encoding. The complete pipeline combines safe-area extraction, connectivity graph construction, trajectory generation, and B-spline smoothing into one coherent system. Experimental results demonstrate consistent success and superior performance compared to baseline approaches across complex environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_13188 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Collision-Free Navigation of Mobile Robots via Quadtree-Based Model Predictive Control Ali, Osama Al Sheikh Koutsoftas, Sotiris Zhang, Ze Akesson, Knut Dean, Emmanuel Robotics Systems and Control This paper presents an integrated navigation framework for Autonomous Mobile Robots (AMRs) that unifies environment representation, trajectory generation, and Model Predictive Control (MPC). The proposed approach incorporates a quadtree-based method to generate structured, axis-aligned collision-free regions from occupancy maps. These regions serve as both a basis for developing safe corridors and as linear constraints within the MPC formulation, enabling efficient and reliable navigation without requiring direct obstacle encoding. The complete pipeline combines safe-area extraction, connectivity graph construction, trajectory generation, and B-spline smoothing into one coherent system. Experimental results demonstrate consistent success and superior performance compared to baseline approaches across complex environments. |
| title | Collision-Free Navigation of Mobile Robots via Quadtree-Based Model Predictive Control |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2511.13188 |