可視性を考慮した軌道最適化と空中追跡への応用
Visibility-aware Trajectory Optimization with Application to Aerial Tracking
観測距離・角度・遮蔽を考慮した可視性指標を微分可能なコスト関数として定式化し、位置とヨー角の軌道を同時最適化する手法を提案。ドローン追跡システムに実装し、より安定して目標を観測できることを示した。
著者: Qianhao Wang, Yuman Gao, Jialin Ji, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
The visibility of targets determines performance and even success rate of various applications, such as active slam, exploration, and target tracking. Therefore, it is crucial to take the visibility of targets into explicit account in trajectory planning. In this paper, we propose a general metric for target visibility, considering observation distance and angle as well as occlusion effect. We formulate this metric into a differentiable visibility cost function, with which spatial trajectory and yaw can be jointly optimized. Furthermore, this visibility-aware trajectory optimization handles dynamic feasibility of position and yaw simultaneously. To validate that our method is practical and generic, we integrate it into a customized quadrotor tracking system. The experimental results show that our visibility-aware planner performs more robustly and observes targets better. In order to benefit related researches, we release our code to the public.
