Intention-Aware Planner for Robust and Safe Aerial Tracking
arxiv(2023)
摘要
Autonomous target tracking with quadrotors has wide applications in many
scenarios, such as cinematographic follow-up shooting or suspect chasing.
Target motion prediction is necessary when designing the tracking planner.
However, the widely used constant velocity or constant rotation assumption can
not fully capture the dynamics of the target. The tracker may fail when the
target happens to move aggressively, such as sudden turn or deceleration. In
this paper, we propose an intention-aware planner by additionally considering
the intention of the target to enhance safety and robustness in aerial tracking
applications. Firstly, a designated intention prediction method is proposed,
which combines a user-defined potential assessment function and a state
observation function. A reachable region is generated to specifically evaluate
the turning intentions. Then we design an intention-driven hybrid A* method to
predict the future possible positions for the target. Finally, an
intention-aware optimization approach is designed to generate a
spatial-temporal optimal trajectory, allowing the tracker to perceive
unexpected situations from the target. Benchmark comparisons and real-world
experiments are conducted to validate the performance of our method.
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