In order to improve the operational safety of opening and passing a door in human environment, a method based on model predictive control and admittance control is proposed for a mobile robot to open the door autonomously. The kinematics model of the mobile robot is established, and the Cartesian pose and velocity of the end of the manipulator mounted on the mobile chassis are solved, and the door opening trajectory is planned offline. The constraints of the mobile robot itself and the environment are added, and the optimization control problem is constructed. The planned trajectory is corrected by the admittance controller, and the corrected trajectory is transferred to the model predictive controller for tracking. The simulation results show that the method has effective in the whole body cooperative control and compliance control of mobile robots, and has broad application prospects.