RINGO: Real-time Navigation with a Guiding Trajectory for Aerial Manipulators in Unknown Environments
Zhaopeng Zhang, Shizhen Wu, Chenfeng Guo, Yongchun Fang, Jianda Han, and Xiao Liang*
RINGO firstly propose a real-time navigation framework for aerial manipulators navigation in unknown environments.
Key Features
- Real-time Navigation: Enables aerial manipulators to navigate through unknown environments in real time
- Guiding Trajectory: Any B-spline parameterized trajectory can serve as the guidance trajectory
- Workspace Constraint: Utilizes the convex-hull property to incorporate the workspace constraint