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

[2605.14232] Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments

[Submitted on 14 May 2026]

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

View a PDF of the paper titled Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments, by Li Tan and Junlin Xiong and Yan Wang and Wei Ren

View PDF HTML (experimental)

Abstract: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.

Comments: 7 pages, 7 figures

Subjects:

Robotics (cs.RO)

Cite as: arXiv:2605.14232 [cs.RO]

(or arXiv:2605.14232v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2605.14232

arXiv-issued DOI via DataCite (pending registration)

Submission history

From: Li Tan [view email] [v1] Thu, 14 May 2026 00:57:28 UTC (1,141 KB)

Full-text links:

Access Paper:

View a PDF of the paper titled Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments, by Li Tan and Junlin Xiong and Yan Wang and Wei Ren

View PDF

HTML (experimental)

TeX Source

view license

Current browse context:

cs.RO

new | recent | 2026-05

Change to browse by:

cs

References & Citations

NASA ADS

Google Scholar

Semantic Scholar

Loading...

Data provided by:

Bibliographic Tools

Bibliographic and Citation Tools

Bibliographic Explorer Toggle

Bibliographic Explorer (What is the Explorer?)

Connected Papers Toggle

Connected Papers (What is Connected Papers?)

Litmaps Toggle

Litmaps (What is Litmaps?)

scite.ai Toggle

scite Smart Citations (What are Smart Citations?)

Code, Data, Media

Code, Data and Media Associated with this Article

alphaXiv Toggle

alphaXiv (What is alphaXiv?)

Links to Code Toggle

CatalyzeX Code Finder for Papers (What is CatalyzeX?)

DagsHub Toggle

DagsHub (What is DagsHub?)

GotitPub Toggle

Gotit.pub (What is GotitPub?)

Huggingface Toggle

Hugging Face (What is Huggingface?)

ScienceCast Toggle

ScienceCast (What is ScienceCast?)

Demos

Demos

Replicate Toggle

Replicate (What is Replicate?)

Spaces Toggle

Hugging Face Spaces (What is Spaces?)

Spaces Toggle

TXYZ.AI (What is TXYZ.AI?)

Related Papers

Recommenders and Search Tools

Link to Influence Flower

Influence Flower (What are Influence Flowers?)

Core recommender toggle

CORE Recommender (What is CORE?)

Author

Venue

Institution

Topic

About arXivLabs

arXivLabs: experimental projects with community collaborators

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.

Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)