[ICAS2016] Sampling-based Motion Planning for Cooperative Aerial Manipulation

Abstract: This paper focuses on the optimal motion planning problem for cooperative aerial manipulation. We use the rapidly exploring random trees star (RRT) algorithm that finds feasible paths quickly and optimizes them. For local planning within RRT, we developed a trajectory planner using Bezier-curve which utilizes the differential flatness property of the aerial manipulator. Time-parameterization is performed to represent the curve as a function of time.

Bibtex

@inproceedings{kim2016sampling,
  title={Sampling-based motion planning for cooperative aerial manipulation},
  author={Kim, Hyoin and Lee, Hyeonbeom and Kim, H Jin},
  booktitle={ICAS},
  year={2016}
}