航空学报2026，Vol.47Issue(9)：33-53,21.DOI:10.7527/S1000-6893.2026.33402
空中操作机器人运动规划技术研究进展与展望
Research progress and prospect of motion planning technology for aerial manipulators
摘要
Abstract
By establishing continuous or transient physical contact with the environment,aerial manipulators have ex-panded from traditional information acquisition platforms to complex interactive systems with active operation capabili-ties,evolving from"passive sensing"to"active operation".They have broad application prospects in complex interac-tion scenarios of large-scale energy and transportation infrastructure such as bridges,power grids,and oil and gas pipelines.Compared with non-contact flight operations,contact operations involve significant dynamic coupling,con-tact force constraints,and multi-modal motion switching.The introduced high-dimensional nonlinear constraints limit the feasible solution space of motion planning and restrict the autonomy and stability of the system.To address these challenges,this paper systematically reviews the research progress in the field of motion planning for aerial manipula-tors.Firstly,starting from the system architecture,this paper analyzes the influences of various flight platform configu-rations and operation mechanisms on the plannable space and operation capability.Secondly,it summarizes system modeling methods for motion planning,contact dynamics modeling,and various task planning constraints.On this ba-sis,focusing on the planning requirements of contact operation tasks,three mainstream types of motion planning algo-rithms,namely sampling-based,optimization-based,and learning-based algorithms,are introduced respectively.Their development trends are analyzed,and their applicability and limitations in high-dimensional state search,dy-namic constraint handling,and real-time replanning are compared.Finally,the challenges faced by aerial manipula-tors are summarized and future development trends are prospected.关键词
空中操作机器人/旋翼飞行机器人/运动规划/接触式作业/系统建模Key words
aerial manipulators/multirotor aerial robots/motion planning/contact operation/system modeling分类
航空航天引用本文复制引用
张智星,钟杭,张彩霞,梁嘉诚,刘兰兰,王耀南..空中操作机器人运动规划技术研究进展与展望[J].航空学报,2026,47(9):33-53,21.基金项目
江西省重点研发计划(20243BBG71017) （20243BBG71017）
湖南省重点研发计划(2024JK2057) （2024JK2057）
抚州市揭榜挂帅项目(2023JBA04) （2023JBA04）
装备状态感知与敏捷保障全国重点实验室基金(WDZC20255290508) （WDZC20255290508）
广东省基础与应用基础研究基金(2024A1515240062) （2024A1515240062）
湖南省研究生科研创新项目(CX20240033) Key R&D Program of Jiangxi Province(20243BBG71017) （CX20240033）
Key R&D Program of Hunan Province(2024JK2057) （2024JK2057）
Fuzhou Jiebang Leading Project(2023JBA04) （2023JBA04）
National Key Laboratory for Equipment Status Perception and Agile Support Fund(WDZC20255290508) （WDZC20255290508）
Guangdong Province Basic and Applied Basic Research Fund(2024A1515240062) （2024A1515240062）
Postgraduate Scientific Research Innovation Project of Hunan Province(CX20240033) （CX20240033）
