Flexible Active Safety Motion Control for Robotic Obstacle Avoidance: A CBF-Guided MPC Approach

Jinhao Liu,Jun Yang,Jianliang Mao, Tianqi Zhu, Qihang Xie, Yimeng Li,Xiangyu Wang,Shihua Li

IEEE ROBOTICS AND AUTOMATION LETTERS（2025）

引用 0|浏览41

关键词

Safety,Robots,Manipulator dynamics,Collision avoidance,Manipulators,Vehicle dynamics,Aerodynamics,Heuristic algorithms,Path planning,Predictive models,motion control,model predictive control (MPC),control barrier function (CBF),robot manipulator

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