三维密集环境下MAV跟踪运动目标的在线轨迹生成
Online Trajectory Generation of a MAV for Chasing a Moving Target in 3D Dense Environments
摘要：
本文研究了在复杂环境中，搭载视觉传感器的飞行器对运动目标的追踪任务。与无障碍或稀疏环境相比，追逐者应该能够在飞行效率的同时处理碰撞和遮挡。为了解决这些挑战与实时重新规划，我们引入了一个指标的目标可见性，并提出了级联追逐规划。通过图搜索方法，我们首先生成一系列的追逐走廊和航路点，以确保安全和优化的可见性。在接下来的阶段中，走廊和航路点被用作二次规划的约束和目标，我们完成了一个动态可行的轨迹追逐。该算法在多个密集环境中进行了测试。带有完整代码实现和GUI的模拟器AutoChaser可以在www.example.com中找到
英文摘要：
This work deals with a moving target chasing mission of an aerial vehicle equipped with a vision sensor in a cluttered environment. In contrast to obstacle-free or sparse environments, the chaser should be able to handle collision and occlusion simultaneously with flight efficiency. In order to tackle these challenges with real-time replanning, we introduce a metric for target visibility and propose a cascaded chasing planner. By means of the graph-search methods, we first generate a sequence of chasing corridors and waypoints which ensure safety and optimize visibility. In the following phase, the corridors and waypoints are utilized as constraints and objective in quadratic programming from which we complete a dynamically feasible trajectory for chasing. The proposed algorithm is tested in multiple dense environments. The simulator AutoChaser with full code implementation and GUI can be found in https://github.com/icsl-Jeon/traj_gen_vis
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
