Aerial Grasping of a Moving Target with a Quadrotor UAV

TitleAerial Grasping of a Moving Target with a Quadrotor UAV
Publication TypeConference Paper
Year of Publication2012
AuthorsSpica, R, Franchi, A, Oriolo, G, Bülthoff, HH, Robuffo Giordano, P
Conference Name2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
Date Published10/2012
Conference LocationVilamoura, Portugal
KeywordsMotion Planning, Optimal Trajectory Planning

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.

Citation Key2012j-SpiFraOriBueRob
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