Unified aerial-terrestrial-inclined path search and trajectory optimization for CHAT-PM

This paper introduces a unified planning framework for composite hybrid aerial/terrestrial precision manipulators (CHAT-PM), enabling energy-efficient trimodal navigation in complex environments. The proposed path search algorithm leverages terrain-specific heuristics and motion primitives to prioritize energy-saving terrestrial/inclined paths while dynamically selecting optimal motion modes. To address the computational complexity of trimodal dynamics, a unified nonlinear model predictive control (NMPC) approach is developed by integrating complementary constraints, thereby eliminating mixed-integer optimization and unifying aerial-terrestrial-inclined dynamics under a single framework. The dynamics model further incorporates disturbances from robotic arm operations, ground/slope contact forces, and aerodynamic effects, enhancing trajectory accuracy. Finally, the effectiveness and superiority of the proposed method are demonstrated by simulation results and real-world experiments.