2022/04/18 by Fan Ding, Ding, Fan, Han Wang +7
Computer Science · Engineering · Materials Science · #FOS: Computer and information sciences #FOS: Electrical engineering #Modular Robots and Swarm Intelligence #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #biodegradable polymer synthesis and properties #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2204.08265
openalex publication_date 2022/04/18 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we design a configuration-aware safe control law by solving a Quadratic Programming (QP) with designed Control Barrier Functions (CBFs) constraints, which can safely navigate a mobile robotic arm to a desired region while avoiding collision with environmental obstacles. The advantage of our approach is that it correctly and in an elegant way incorporates the spatial structure of the mobile robotic arm. This is achieved by merging geometric restrictions among mobile robotic arm links into CBFs constraints. Simulations on a rigid rod and the modeled mobile robotic arm are performed to verify the feasibility and time-efficiency of proposed method. Numerical results about the time consuming for different degrees of freedom illustrate that our method scales well with dimension.