05.2 - Flight Dynamics and Control (UAV related)
SAMPLING-BASED MOTION PLANNING FOR COOPERATIVE AERIAL MANIPULATION
H.I. Kim¹, H.B. Lee¹, H.J. Kim¹; ¹Seoul National Univ., South Korea
This paper focuses on the optimal motion planning problem of cooperative aerial manipulation. We use the rapidly exploring random tree star (RRT*) algorithm that finds feasible paths quickly and optimizes them. For local planning within RRT, we developed a trajectory planner that utilizes the differential flatness property of the aerial manipulator under dynamic constraints.