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Collision avoidance is a widely investigated topic in robotic applications.When applying collision avoidance techniques to a mobile robot, how to dealwith the spatial structure of the robot still remains a challenge. In thispaper, we design a configuration-aware safe control law by solving a QuadraticProgramming (QP) with designed Control Barrier Functions (CBFs) constraints,which can safely navigate a mobile robotic arm to a desired region whileavoiding collision with environmental obstacles. The advantage of our approachis that it correctly and in an elegant way incorporates the spatial structureof the mobile robotic arm. This is achieved by merging geometric restrictionsamong mobile robotic arm links into CBFs constraints. Simulations on a rigidrod and the modeled mobile robotic arm are performed to verify the feasibilityand time-efficiency of proposed method. Numerical results about the timeconsuming for different degrees of freedom illustrate that our method scaleswell with dimension.

Configuration-Aware Safe Control for Mobile Robotic Arm with Control Barrier Functions