Abstract
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.
| Original language | English |
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| Title of host publication | 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 |
| Place of Publication | Piscataway, NJ |
| Publisher | IEEE |
| Pages | 4985-4992 |
| Number of pages | 8 |
| ISBN (Electronic) | 978-1-4673-1736-8 |
| ISBN (Print) | 978-1-4673-1737-5, 978-1-4673-1735-1 |
| DOIs | |
| Publication status | Published - 2012 |
| Externally published | Yes |
| Event | 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Portugal Duration: 7 Oct 2012 → 12 Oct 2012 Conference number: 25 |
Publication series
| Name | IEEE International Conference on Intelligent Robots and Systems (IROS) |
|---|---|
| Publisher | IEEE |
| Volume | 2012 |
| ISSN (Print) | 2153-0858 |
| ISSN (Electronic) | 2153-0866 |
Conference
| Conference | 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 |
|---|---|
| Abbreviated title | IROS |
| Country/Territory | Portugal |
| City | Vilamoura |
| Period | 7/10/12 → 12/10/12 |