* Title: Integrated Motion Planner for Real-time Aerial Videography with a Drone in a Dense Environment
* Status: IEEE international conference on robotics and automation (ICRA) 2020 accepted.
* Category: Visual navigation & active perception, autonomous cinematography
* Authors: Boseong Jeon, Yunwoo Lee and H .Jin Kim
* Abstract: This module suggests an integrated approach for a
drone (or multirotor) to perform an autonomous videography
task in a 3-D obstacle environment by following a moving object.
The proposed system includes 1) a target motion prediction
module which can be applied to dense environments and 2) a
hierarchical chasing planner based on a proposed metric for
visibility. In the prediction module, we minimize observation
error given that the target object itself does not collide with
obstacles. The estimated future trajectory of target is obtained
by covariant optimization. The other module, chasing planner,
is in a bi-level structure composed of preplanner and smooth
planner. In the first phase, we leverage a graph-search method
to preplan a chasing corridor which incorporates safety and
visibility of target during a time window. In the subsequent
phase, we generate a smooth and dynamically feasible path
within the corridor using quadratic programming (QP). We
validate our approach with multiple complex scenarios and
actual experiments. The source code can be found in https://github.com/icsl-Jeon/traj_gen_vis
Submitted video : https://youtu.be/_JSwXBwYRl8
