Fast-Tracker：混雑環境で俊敏な目標を追跡する堅牢な飛行システム
Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments
目標の意図や環境が未知の混雑空間で、UAVが俊敏な目標を安全かつ積極的に追跡するため、目標運動予測と階層型追跡軌道計画を組み合わせたオンボードシステムを提案し、実機実験で有効性を示した論文。
著者: Zhichao Han, Ruibin Zhang, Neng Pan, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense environments are unknown to the UAV. Our work is divided into two parts: target motion prediction and tracking trajectory planning. The target motion prediction method utilizes target observations to reliably predict the future motion of the target considering dynamic constraints. The tracking trajectory planner follows the traditional hierarchical workflow.A target informed kinodynamic searching method is adopted as the front-end, which heuristically searches for a safe tracking trajectory. The back-end optimizer then refines it into a spatial-temporal optimal and collision-free trajectory. The proposed solution is integrated into an onboard quadrotor system. We fully test the system in challenging real-world tracking missions.Moreover, benchmark comparisons validate that the proposed method surpasses the cutting-edge methods on time efficiency and tracking effectiveness.
