Collision-free trajectory generation of robotic manipulators using receding horizon strategy

The main objective of this paper is to study the feasibility of the receding horizon (RH) strategy to generate the collision-free on-line optimal trajectory for articulated manipulators under dynamic environments. Firstly, we employ the elliptical set to represent the no-collision zone around each link, and explicitly formulate collision avoidance constraints using state-space inequalities. Secondly, to address the major drawback of intensive computation load, we adopt so called the external active-set strategy that is recently developed by Chung and Polak. Simulation results with two-link robot are presented to demonstrate how to implement the proposed method. Main features and related issues for the feasibility of the RH strategy are discussed in detail.