Reactive 3D Motion Planning in Dynamic Environments Using Efficient Model Predictive Control via Circular Fields *
Fabrice Zeug, Sarah Kleinjohann, Torsten Lilge, Marvin Becker, Matthias Albrecht Müller
Abstract
In this paper, we present a novel online global reactive motion planner that synergizes the benefits of reactive control and model predictive control (MPC). By applying circular fields, the planner significantly simplifies the problem of determining control inputs for mobile robots and manipulators, making real-time MPC feasible even in complex and dynamic three-dimensional environments. This approach utilizes the performance advantages of optimal control while maintaining reactivity to environmental changes and computational efficiency. The proposed motion planner is evaluated in various simulated scenarios, including complex dynamic environments with up to 100 moving obstacles, and is compared to different state-of-the-art approaches.
BibTeX
@inproceedings{iros2025_reactive3dmotion,
title = {Reactive 3D Motion Planning in Dynamic Environments Using Efficient Model Predictive Control via Circular Fields *},
author = {Fabrice Zeug and Sarah Kleinjohann and Torsten Lilge and Marvin Becker and Matthias Albrecht Müller},
booktitle = {IROS 2025},
year = {2025}
}