An End-Effector-Oriented Coupled Motion Planning Method for Aerial Manipulators in Constrained Environments
Zhaopeng Zhang, Hai Yu, Yi Chai, Zhichao Yang, Xiao Liang*, Yongchun Fang, and Jianda Han
This work proposes a motion planning method for aerial manipulators, using a dynamic convex polyhedron for collision avoidance and considering both position and orientation of the end-effector for precise task execution.
Key Features
- End-Effector-Oriented Planning: Not only focuses on the position of the end-effector but also on the orientation
- Coupled Motion Planning: Integrates approaching stage and the manipulation stage into one period motion planning framework
- Constrained Environment: Utilizing dynamic convex polyhedron but not a big sphere to avoid generated trajectory’s conservatism