BPMP-Tracker: バーンスタイン多項式運動プリミティブを用いた汎用空中ターゲット追跡
BPMP-Tracker: A Versatile Aerial Target Tracker Using Bernstein Polynomial Motion Primitives
バーンスタイン多項式運動プリミティブとサンプル・チェック・セレクト戦略を用いて、複雑環境や多数の動的障害物、複数ターゲット追跡に対応する空中追跡の軌道計画パイプラインを提案した。
著者: Yunwoo Lee, Jungwon Park, Boseong Jeon, Seungwoo Jung, H. Jin Kim
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This letter presents a versatile trajectory planning pipeline for aerial tracking. The proposed tracker is capable of handling various chasing settings such as complex unstructured environments, crowded dynamic obstacles and multiple-target following. Among the entire pipeline, we focus on developing a predictor for future target motion and a chasing trajectory planner. For rapid computation, we employ the sample-check-select strategy: modules sample a set of candidate movements, check multiple constraints, and then select the best trajectory. Also, we leverage the properties of Bernstein polynomials for quick calculations. The prediction module predicts the trajectories of the targets, which do not overlap with static and dynamic obstacles. Then the trajectory planner outputs a trajectory, ensuring various conditions such as occlusion and collision avoidance, the visibility of all targets within a camera image and dynamical limits. We fully test the proposed tracker in simulations and hardware experiments under challenging scenarios, including dual-target following, environments with dozens of dynamic obstacles and complex indoor and outdoor spaces.
