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<p>In this paper, a novel trajectory planning optimization approach is proposed which uses designed and fully-controlled basic movements. Modified variable length particle swarm optimization (VL-PSO) is addressed to build optimal trajectory planning based on basic maneuvers. This approach designs third derivative function of the desired actuated states instead of using former inverse kinematic approach. Because this method uses feasible and easy-operational maneuvers, it generates smooth and suitable actuator’s efforts. Moreover, by obtaining optimally planned trajectory, state synchronization method of networked AMs is discussed studying fixed and leader-follower topologies considering communication delays. The simulation results using numerical solutions prove the efficiency and correctness of the proposed relations and algorithms.</p>

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Trajectory Planning Optimization of Synchronized Networked Aerial Manipulators

  • 期刊论文

  • 发表日期：

    2025年4月12日

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  • Seyed Ali Seyed Yousef,
  • Mousa Valipour Arekhlou,
  • Esmaeel Khanmirza

摘要

In this paper, a novel trajectory planning optimization approach is proposed which uses designed and fully-controlled basic movements. Modified variable length particle swarm optimization (VL-PSO) is addressed to build optimal trajectory planning based on basic maneuvers. This approach designs third derivative function of the desired actuated states instead of using former inverse kinematic approach. Because this method uses feasible and easy-operational maneuvers, it generates smooth and suitable actuator’s efforts. Moreover, by obtaining optimally planned trajectory, state synchronization method of networked AMs is discussed studying fixed and leader-follower topologies considering communication delays. The simulation results using numerical solutions prove the efficiency and correctness of the proposed relations and algorithms.