Collision avoidance of robotic arm of aerial manipulator

In this paper, we propose avoidance method for an obstacle of an aerial manipulator equipped with a robotic arm with consideration of the full dynamics. For comprehensive avoidance, we should consider the avoidance of multirotor and robotic arm simultanesly. For multirotor's body frame, we the adapted well-established path planning method based on the potential field. For the avoidance of robotic arm, we extended the linkage avoidance algorithm which is studied only in stationary case to the moving frame. Furthermore, to achieve the integration of the two, we propose the pseudo angle based algorithm which assists the avoidance of linkage using the attitude of the multirotor.