This video illustrates a motion planning technique solving the problem of planning a trajectory that connects two arbitrary states while allowing the a quadrotor UAV to grasp a moving target at some intermediate time.

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.

Details on the planning method are given in [1]

References