Reactivity and Dynamic Obstacle Avoidance

Abstract

This chapter presents methods for aerial manipulators that allow to react against unexpected obstacles during navigation. The local replanning method presented in more detail considers jointly the state of the aerial platform and the manipulator configuration at joint level. Moreover, the proposed planner generates trajectories that account for the dynamics, which is a crucial issue due to the strong dynamical coupling between the aerial platform and the arms. Finally, simulation and experimental results have been included for validation.