Parameterized Motion Planning for Aerial Manipulators in Contact with Unstructured Surfaces
Zhixing Zhang, Hang Zhong, Chaoquan Lin, Weizheng Wang, Hean Hua, Hui Zhang, Yaonan Wang
Abstract
Motion planning for continuous contact-based aerial manipulators on complex unstructured surfaces remains a substantial challenge due to the sophisticated topology of unstructured surfaces. While direct planning in the high-dimensional configuration space manifolds faces efficiency limitations, simplified planning in the parametric space sacrifices trajectory quality. Therefore, this paper proposes a sampling-based motion planning method, namely, parameter-configuration space fast marching tree (PCS-FMT*), which integrates both configuration and parameter space information. The proposed PCS-FMT* introduces a reparameterization strategy that compresses the planning space into a low-dimensional parameter manifold while preserving metric consistency with the original configuration space. Thus, PCS-FMT* can efficiently plan in the parameter space and optimize the motion trajectory. Simulations on challenging unstructured surfaces validate the effectiveness of PCS-FMT* for aerial manipulators in contact with unstructured surfaces.
BibTeX
@inproceedings{iros2025_parameterizedmot,
title = {Parameterized Motion Planning for Aerial Manipulators in Contact with Unstructured Surfaces},
author = {Zhixing Zhang and Hang Zhong and Chaoquan Lin and Weizheng Wang and Hean Hua and Hui Zhang and Yaonan Wang},
booktitle = {IROS 2025},
year = {2025}
}