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This paper proposes a motion control scheme for robots operating in a dynamicenvironment with concave obstacles. A Model Predictive Controller (MPC) isconstructed to drive the robot towards a goal position while ensuring collisionavoidance without direct use of obstacle information in the optimizationproblem. This is achieved by guaranteeing tracking performance of anappropriately designed receding horizon path. The path is computed using aguiding vector field defined in a subspace of the free workspace where eachpoint in the subspace satisfies a criteria for minimum distance to allobstacles. The effectiveness of the control scheme is illustrated by means ofsimulation.

Obstacle Avoidance in Dynamic Environments via Tunnel-following MPC with Adaptive Guiding Vector Fields