TPL: Trajectory Planner for Target Tracking in Low-Light Environments

ROBOT INTELLIGENCE TECHNOLOGY AND APPLICATIONS 6(2022)

引用 2|浏览18
暂无评分
摘要
Unmanned Aerial Vehicles (UAVs) have drawn attention in recent years due to the wide spectrum of utilization. Out of those areas, autonomous aerial tracking is one of the fields that could be applied widely. The main purpose of this paper is to develop a novel trajectory planner for autonomous aerial tracking that is feasible even in areas where light is scarce. The poor lighting condition is handled by equipping and utilizing a thermal camera and a Time-of-Flight (ToF) camera on the UAV. In addition, minimum snap trajectory is adopted to track the target and kinodynamics of the UAV is considered at the same time, which is optimized by solving a quadratic programming with corridor constraints considering the noises of the cameras. Moreover, based on the former information, the proposed system predicts the future motion of the target considering dynamic constraints. The performance of the proposed approach is validated by intensive simulations and real-world experiments.
更多
查看译文
关键词
Unmanned Aerial Vehicle, Trajectory planning, Object detection, Night vision, Thermal camera, Tracking control
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要