This paper presents a novel method for motion planning of aerial long-reach manipulators that considers the aerodynamic effects generated by close surfaces in the trajectory generation process. The aerial manipulation system consists of a multirotor equipped with a robotic long-reach arm that enables multidirectional inspection and also increases considerably the safety distance between the rotors and the inspected elements. Since these systems operate in the proximity of elements that can modify significantly the rotors’ airflow, the inclusion of Aerodynamics Awareness within the motion planning process is required to ensure robust obstacle avoidance. To this end, a proper characterisation of the aerodynamic effects based on both theoretical and experimental considerations has been derived. This characterisation is taken into account in the trajectory generation process to discard states whose associated aerodynamic phenomena are not well compensated by the system controller and to explore alternatives that lead to the most efficient trajectories within the area of safe operation. Moreover, the motion planner also stands out for three other relevant features: the joint consideration of the multirotor and the robotic long-reach arm, the generation of efficient trajectories in terms of energy consumption, and the Dynamics Awareness of the strong coupling between the aerial platform and the robotic arm. The resulting motion planner has been successfully tested in a simulated environment that faithfully reflects an application scenario strongly affected by aerodynamic effects: the inspection of bridges to find potential cracks in the surface of pillars.

中文翻译：

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空中远程操纵器中具有动力学意识的运动规划的气动扩展。

本文提出了一种新的空中远程操纵器运动规划方法，该方法考虑了在轨迹生成过程中闭合表面所产生的空气动力效应。空中操纵系统由配备有机械手长臂的多旋翼飞机组成，该多臂旋臂可以进行多方向检查，并且还大大增加了旋翼和被检查元件之间的安全距离。由于这些系统在可能会显着改变转子气流的元件附近运行，因此需要在运动计划过程中纳入空气动力学意识，以确保有效避开障碍物。为此，已经基于理论和实验考虑因素对空气动力效应进行了适当的表征。在轨迹生成过程中要考虑到此特征，以丢弃状态相关联的空气动力学现象无法由系统控制器很好地补偿的状态，并探索在安全操作区域内导致最有效轨迹的替代方案。此外，运动计划器还具有其他三个相关功能：多旋翼和机器人长臂的共同考虑，在能耗方面产生有效轨迹，以及动力学意识，即飞机之间的强耦合平台和机械臂。最终的运动计划器已在模拟环境中成功测试，该环境忠实反映了受空气动力影响严重的应用场景：