Real-Time Trajectory Planning for Aerial Perching
Jialin Ji,Tiankai Yang,Chao Xu,Fei Gao,Jialin Ji,Tiankai Yang,Chao Xu,Fei Gao
This paper presents a novel trajectory planning method for aerial perching. Compared with the existing work, the terminal states and the trajectory durations can be adjusted adaptively, instead of being determined in advance. Further-more, our planner is able to minimize the tangential relative speed on the premise of safety and dynamic feasibility. This feature is especially notable on micro aeri...
