This paper presents a novel trajectory planning method for aerial perching. Compared with the existing work, the terminal states and the trajectory durations can be adjusted adaptively, instead of being determined in advance. Furthermore, our planner is able to minimize the tangential relative speed on the premise of safety and dynamic feasibility. This feature is especially notable on micro aerial robots with low maneuverability or scenarios where the space is not enough. Moreover, we design a flexible transformation strategy to eliminate terminal constraints along with reducing optimization variables. Besides, we take precise SE(3) motion planning into account to ensure that the drone would not touch the landing platform until the last moment. The proposed method is validated onboard by a palm-sized micro aerial robot with quite limited thrust and moment (thrust-to-weight ratio 1.7) perching on a mobile inclined surface. Sufficient experimental results show that our planner generates an optimal trajectory within 20ms, and replans with warm start in 2ms.

翻译：本文展示了一种新的空中穿刺轨迹规划方法。 与现有工作相比, 终端状态和轨迹持续时间可以适应性调整, 而不是事先确定。 此外, 我们的计划者能够在安全和动态可行性的前提下, 最大限度地降低相近相对速度。 这个特点特别突出地表现在可操作性低的微型航空机器人或空间不足的场景上。 此外, 我们设计了一个灵活的转换战略, 消除终端限制, 并减少优化变量。 此外, 我们考虑到精确的 SE(3) 运动规划, 以确保无人机在最后一刻前不会触碰着陆平台。 提议的方法在机上由在移动倾斜地表面潜入的有限方向和时间( 突扰至重量比率1.7 ) 的棕榈尺寸微型空中机器人验证。 充分的实验结果显示, 我们的计划者在20米内生成了最佳的轨道, 并在两米内进行热起的重新规划 。