Nonlinear receding horizon gradient method- real-time optimization for robot trajectory generation

The proposed method reduces a hardness to treat additional formula manipulation in past receding horizon control. Historically, gradient method had a defect to take long time to converge into optimal solution. This defect can be turned into an advantage by taking different procedure to use gradient. This paper describes how to use gradient at receding horizon control. This method is also effective for a case which the state equation is complicated or large scaled model because the formulation is simple.