Real-Time Collision- Free Trajectory Optimization of Robot Manipulators via Semi-Infinite Parameter Optimization

Real-time collision-free trajectory control is dealt with by semi- infinite optimization techniques. This allows an optimal control problem incorporating a robotlobstacle distance function for col lision detection to be reduced to a finite-dimensional parameter- optimization problem. This reduced problem can be solved effi ciently by the numerical parameter-optimization method of sequen tial quadratic programming. In the case of a time-varying robot environment, a series of such optimization problems is solved in an iterative time frame, constituting a real-time optimization loop.