  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.
