Safe Model Predictive Control of a Non-Holonomic Mobile Manipulator Under Multiple Constraints Using Control Barrier Functions
This paper introduces a novel control strategy to ensure safety in the navigation of a mobile manipulator comprising a fixed-base manipulator mounted on a mobile platform. The approach initially addresses the trajectory tracking problem of a non-holonomic mobile manipulator (NH-MM) by employing deco...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10979937/ |
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