arXiv 2605.142322026-08-25cs.RO

基于反应规划的移动机器人在障碍物密集环境中的控制

Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments

Department of Automation, University of Science and Technology of China（自动化系，中国科学技术大学）；School of Intelligence Science and Engineering, Harbin Institute of Technology Shenzhen（智能科学与工程学院，哈尔滨工业大学深圳）；School of Control Science and Engineering, Dalian University of Technology（控制科学与工程学院，大连理工大学）

Li Tan, Junlin Xiong, Yan Wang, Wei Ren

备注：: 7 pages, 7 figures

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AI总结：

本文提出基于反应规划的控制策略，用于移动机器人在障碍物密集环境中避障和导航，通过局部修改参考轨迹实现安全运动。

摘要：

本文针对移动机器人在障碍物密集环境中运动控制问题，提出一种基于反应规划的控制策略（RPCS）。首先，将初始位置和目标位置连接为参考轨迹。然后，开发一种反应规划策略（RPS），通过局部修改参考轨迹以确保避障。接着，提出自适应跟踪控制策略（ATCS），通过离散化技术跟踪参考轨迹。最后，将RPS和ATCS结合，建立RPCS，通过数值示例验证其有效性和优势。

英文摘要：

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.

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