无人机用钩子抓取移动物体，实现精准动态捕获。
Hook-Based Aerial Payload Grasping from a Moving Platform
- 基于互补约束的高效轨迹优化，确定最佳抓取时机。
- 结合物理仿真预测目标未来运动，适应复杂环境变化。
- 理论验证鲁棒性，适合实际飞行中抗干扰抓取任务。
本文研究了搭载钩子的空中机械臂从运动平台抓取负载的问题。首先提出一种基于互补约束的计算高效轨迹优化方法，以确定最优抓取时机。为应对复杂动态环境，采用基于物理模拟器的模型预测负载未来运动。通过基于积分二次约束的鲁棒性分析方法，形式化验证了在模型不确定性与外部扰动下的抓取成功率。所提算法在高保真物理仿真器及自研空中机械臂平台上进行真实飞行实验验证。
原文摘要 · Abstract (English)
This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal grasping time. To enable application in complex, dynamically changing environments, the future motion of the payload is predicted using a physics simulator-based model. The success of payload grasping under model uncertainties and external disturbances is formally verified through a robustness analysis method based on integral quadratic constraints. The proposed algorithms are evaluated in a high-fidelity physical simulator, and in real flight experiments using a custom-designed aerial manipulator platform.
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