視野制約を考慮したクアッドロータの時間最適経路パラメータ化
Perception-aware time optimal path parameterization for quadrotors
カメラの限られた視野を制約として取り込み、クアッドロータが最短時間で飛行できる経路パラメータ化アルゴリズムを提案し、シミュレーションと実機実験で有効性を示した。
著者: Igor Spasojevic, Varun Murali, Sertac Karaman
分類: cs.RO, cs.CV
原文アブストラクト
The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different choices of perceptual modalities are available, the low weight and power budgets of quadrotor systems makes a camera ideal for on-board navigation and estimation algorithms. However, this does come with a set of challenges. The limited field of view of the camera can restrict the visibility of salient regions in the environment, which dictates the necessity to consider perception and planning jointly. The main contribution of this paper is an efficient time optimal path parametrization algorithm for quadrotors with limited field of view constraints. We show in a simulation study that a state-of-the-art controller can track planned trajectories, and we validate the proposed algorithm on a quadrotor platform in experiments.
