Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
Recently, robots are expected to work in disaster or dangerous site on behalf of humans. Among them, flying robots can fly over obstacles and go to the destination where robots on the ground cannot reach. In this paper, a path planning method of a flying robot with a manipulator is proposed in order to carry objects stably in narrow space. Given the start and goal position and the 2D map of the environment, an initial trajectory is calculated by Rapidly-exploring Random Tree (RRT) Connect method. Then, the initial trajectory is refined so as to maximize both the distance from the obstacles and the manipulability of the manipulator in order to carry objects stably. The proposed method was evaluated in a simulator.
