This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision avoidance without direct use of obstacle information in the optimization problem. This is achieved by guaranteeing tracking performance of an appropriately designed receding horizon path. The path is computed using a guiding vector field defined in a subspace of the free workspace where each point in the subspace satisfies a criteria for minimum distance to all obstacles. The effectiveness of the control scheme is illustrated by means of simulation.

翻译：本文提出了一种面向凹形障碍物动态环境中机器人运动控制方案。通过构建模型预测控制器，在优化问题中无需直接引入障碍物信息，即可驱动机器人向目标位置运动，同时确保避障功能。该方案通过保证适当设计的滚动时域路径跟踪性能来实现目标。路径基于自由工作空间子空间中定义的引导矢量场计算，该子空间内每个点均满足与所有障碍物最小距离的准则。仿真实验验证了该控制方案的有效性。