带爪无人机自主控制技术新进展

Unmanned aerial vehicle (UAV) with manipulator has garnered significant attention due to its exceptional precision and maneuverability. With the increasing application demand and the expansion of capability boundary of UAV with manipulator, researchers worldwide have been conducting in-depth studies on its key technologies. This paper analyzes the latest representative progress in the configuration, modeling and control of UAV with manipulator and introduces its evolution process about the manipulator and the UAV platform, respectively. Then, the modeling approaches of UAV with manipulator are divided into the centralized approach and the decentralized approach. The classical control and machine learning methods studied at present are summarized in terms of autonomous control and evaluated for their respective advantages and disadvantages. Finally, the technical difficulties and pain points in the autonomous control technology for UAV with manipulator are concluded and the future research direction is prospected.