Like a Martial Arts Dodge: Safe Expeditious Whole-Body Control of Mobile
Manipulators for Collision Avoidance
Like a Martial Arts Dodge: Safe Expeditious Whole-Body Control of Mobile
Manipulators for Collision Avoidance
In the control task of mobile manipulators(MM), achieving efficient and agile obstacle avoidance in dynamic environments is challenging. In this letter, we present a safe expeditious whole-body(SEWB) control for MMs that ensures both external and internal collision-free. SEWB is constructed by a two-layer optimization structure. Firstly, control barrier functions(CBFs) are …