Feasible Polynomial Trajectory Planning for Aerial Manipulation

被引：1
|
作者：
Morton, Kye [1 ]
McFadyen, Aaron [1 ]
Toro, Luis Felipe Gonzalez [1 ]
机构：
[1] Queensland Univ Technol, Sci & Engn Fac, Brisbane, Qld 4000, Australia
来源：
2020 IEEE AEROSPACE CONFERENCE (AEROCONF 2020) | 2020年
关键词：
D O I：
10.1109/aero47225.2020.9172501
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
A method is proposed to extend a feasible trajectory planning technique for thrust vectoring UAV, such that it can be applied to aerial manipulators. This method utilizes high-degree polynomials to calculate the system dynamics that would be necessary to perform a trajectory in a time-constrained manner. The use of this method provides a high quality trajectory that can be used in conjunction with an almost global exponential stable tracking controller. A two-step method is proposed to optimize flight time based on actuator constraints of the system, and allows for flight aggressiveness to be tuned based on a minimal set of parameters.
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页数：9
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