エラスティックトラッカー：安全で可視性を保証する柔軟な飛行追跡の時空間軌道計画
Elastic Tracker: A Spatio-temporal Trajectory Planner Flexible Aerial Tracking
対象検出と意図不要の運動予測、遮蔽を考慮した経路探索、安全飛行コリドー生成を組み合わせ、安全性と可視性を同時に保証する時空間最適軌道を生成するドローン追跡フレームワークを提案した。
著者: Jialin Ji, Neng Pan, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
This paper proposes Elastic Tracker, a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility. Firstly, an object detection and intension-free motion prediction method is designed. Then an occlusion-aware path finding method is proposed to provide a proper topology. A smart safe flight corridor generation strategy is designed with the guiding path. An analytical occlusion cost is evaluated. Finally, an effective trajectory optimization approach enables to generate a spatio-temporal optimal trajectory within the resultant flight corridor. Particular formulations are designed to guarantee both safety and visibility, with all the above requirements optimized jointly. The experimental results show that our method works more robustly but with less computation than the existing methods, even in some challenging tracking tasks.
