Efficient motion planning for Aerial Manipulators (AMs) is essential for tackling complex manipulation tasks, yet achieving coupled trajectory planning remains challenging. In this work, we propose, to the best of our knowledge, the first whole-body integrated motion planning framework for aerial manipulators, which is facilitated by an improved Safe Flight Corridor (SFC) generation strategy and high-dimensional collision-free trajectory planning. In particular, we formulate an optimization problem to generate feasible trajectories for both the quadrotor and manipulator while ensuring collision avoidance, dynamic feasibility, kinematic feasibility, and waypoint constraints. To achieve collision avoidance, we introduce a variable geometry approximation method, which dynamically models the changing collision volume induced by different manipulator configurations. Moreover, waypoint constraints in our framework are defined in $\mathrm{SE(3)\times\mathbb{R}^3}$, allowing the aerial manipulator to traverse specified positions while maintaining desired attitudes and end-effector states. The effectiveness of our framework is validated through comprehensive simulations and real-world experiments across various environments.

翻译：高效的运动规划对于空中机械臂执行复杂操控任务至关重要，然而实现耦合的轨迹规划仍具挑战性。据我们所知，本研究首次提出了面向空中机械臂的全身一体化运动规划框架，该框架得益于改进的安全飞行走廊生成策略与高维无碰撞轨迹规划。具体而言，我们构建了一个优化问题，用于同时生成四旋翼飞行器与机械臂的可行轨迹，并确保满足避障、动态可行性、运动学可行性及航点约束。为实现避障，我们引入了一种可变几何近似方法，该方法能动态建模由不同机械臂构型引起的碰撞体积变化。此外，我们框架中的航点约束定义在 $\mathrm{SE(3)\times\mathbb{R}^3}$ 空间中，使得空中机械臂能够在穿越指定位置的同时保持期望的姿态与末端执行器状态。我们通过多种环境下的综合仿真与实物实验验证了该框架的有效性。