Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments
Fuente:
arXiv
Guardado en:
| Autores principales: | , , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2026
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866911684000481280 |
|---|---|
| author | Tan, Li Xiong, Junlin Wang, Yan Ren, Wei |
| author_facet | Tan, Li Xiong, Junlin Wang, Yan Ren, Wei |
| contents | This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mobile robot has partial environment information only, and aims to move from an initial position to a target position without collisions. For this purpose, a reactive planning based control strategy (RPCS) is proposed. First, the initial and target positions are connected as a reference trajectory. Then, a reactive planning strategy (RPS) is developed to ensure the collision avoidance by modifying the reference trajectory locally based on the partial environment information. Next, an adaptive tracking control strategy (ATCS) is proposed to track the reference trajectory with potentially local modifications via the discretization techniques. Finally, the RPS and ATCS are combined to establish the RPCS, whose efficacy and advantages are illustrated by numerical examples. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_14232 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments Tan, Li Xiong, Junlin Wang, Yan Ren, Wei Robotics This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mobile robot has partial environment information only, and aims to move from an initial position to a target position without collisions. For this purpose, a reactive planning based control strategy (RPCS) is proposed. First, the initial and target positions are connected as a reference trajectory. Then, a reactive planning strategy (RPS) is developed to ensure the collision avoidance by modifying the reference trajectory locally based on the partial environment information. Next, an adaptive tracking control strategy (ATCS) is proposed to track the reference trajectory with potentially local modifications via the discretization techniques. Finally, the RPS and ATCS are combined to establish the RPCS, whose efficacy and advantages are illustrated by numerical examples. |
| title | Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.14232 |