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 constraints related to the UAV, UGV and tether positions, obstacles and temporal aspects of the motion such as limited robot velocities and accelerations, and finally the tether state, which is not required to be tense. The problem is formulated in a weighted multi-objective optimization framework. Results from simulated scenarios demonstrate that the approach is able to generate obstacle-free and smooth trajectories for the UAV and tether.

翻译：本文件介绍了一种非线性优化方法,用于系绳式空中机器人的轨迹规划,特别是,本文件通过系绳处理与无人驾驶地面飞行器(UGV)相连的无人驾驶航空器(UAV)的规划问题,结果是无人驾驶航空器(UGV)和系绳无碰撞轨迹,假设UGV的位置是静止的,优化考虑到与UAV、UGV和系绳姿势有关的制约因素、障碍和运动的时间方面,如有限的机器人速度和加速度,最后是系绳状态,不需要紧张。问题是在加权多目标优化框架内提出的。模拟情景的结果表明,该方法能够为UAV和系绳产生无障碍和平稳的轨迹。