Motion Planning for Aerial Pick-and-Place based on Geometric Feasibility Constraints

This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partially decoupled motion planning framework to solve this problem. Compared to the state-of-the-art approaches, the proposed one has two novel features. First, it does not suffer from increased computation in high-dimensional configuration spaces. That is because it calculates the trajectories of the quadcopter base and the end-effector separately in the Cartesian space based on proposed geometric feasibility constraints. The geometric feasibility constraints can ensure the resulting trajectories satisfy the aerial manipulator's geometry. Second, collision avoidance for the Delta arm is achieved through an iterative approach based on a pinhole mapping method, so that the feasible trajectory can be found in an efficient manner. The proposed approach is verified by three experiments on a real aerial manipulation platform. The experimental results show the effectiveness of the proposed method for the aerial pick-and-place task.