Optimization-based Trajectory Planning for Tethered Aerial Robots
S. Martínez-Rozas D. Alejo F. Caballero L. Merino S. Martínez-Rozas D. Alejo F. Caballero L. Merino
This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by means of a tether. The result is a collision-free trajectory for UAV and tether, assuming the UGV position is static. The optimizer takes into account constrai...