多关节机械臂多旋翼无人机运动规划技术比较

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2015-11-01 DOI:10.1109/RED-UAS.2015.7441000

R. Ragel, I. Maza, F. Caballero, A. Ollero

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引用次数: 8

摘要

针对多关节机械臂多旋翼无人机，对不同运动规划算法进行了比较。这种类型的平台在ARCAS欧洲项目中被认为是通过使用一组配备了机载操纵器的空中机器人来组装结构。在需要在难以用常规方法进入的地方建造建筑物的情况下，可以发现该系统的实际用途。这项工作解释了开发的仿真框架和在该框架内使用不同运动规划方法获得的结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Comparison of motion planning techniques for a multi-rotor UAS equipped with a multi-joint manipulator Arm

This paper presents a comparison between different motion planning algorithms for a multi-rotor UAS equipped with a multi-joint robotic arm. This type of platform is considered in the ARCAS European Project for the assembly of a structure by using a team of aerial robots equipped with on-board manipulators. The practical interest of this system can be found in situations where it is required to build a structure in places with difficult access by conventional means. This work explains the simulation framework developed and the results obtained with different motion planning methods within this framework.

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来源期刊

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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