Aerial grasping of a moving target with a quadrotor UAV
Aerial grasping of a moving target with a quadrotor UAV
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DOI：
10.1109/iros.2012.6385771
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发表时间：
2012-12
期刊：
影响因子：
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通讯作者：
R. Spica;A. Franchi;G. Oriolo;H. Bülthoff;P. Giordano
中科院分区：
文献类型：
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作者：
R. Spica;A. Franchi;G. Oriolo;H. Bülthoff;P. Giordano
对于一个四旋翼飞行器，我们研究的问题规划的轨迹，连接两个任意状态，同时允许无人机抓住一个移动目标在一些中间时间。为此，两类典型的把握演习的定义和特点。然后，提出了一种规划策略，依赖于差分平坦度串联一个或多个把握机动通过基于样条函数的子轨迹，与最小化总传输时间的附加目标。所提出的规划算法不限于纯悬停悬停运动，并考虑到实际的约束条件，如有限的持续时间的把握阶段。所提出的方法的有效性是通过基于物理的模拟。
For a quadrotor aircraft, we study the problem of planning a trajectory that connects two arbitrary states while allowing the UAV to grasp a moving target at some intermediate time. To this end, two classes of canonical grasping maneuvers are defined and characterized. A planning strategy relying on differential flatness is then proposed to concatenate one or more grasping maneuvers by means of spline-based subtrajectories, with the additional objective of minimizing the total transfer time. The proposed planning algorithm is not restricted to pure hovering-to-hovering motions and takes into account practical constraints, such as the finite duration of the grasping phase. The effectiveness of the proposed approach is shown by means of physically-based simulations.