Vision-Based Reactive Planning for Aggressive Target Tracking While Avoiding Collisions and Occlusions

In this letter, we investigate the online generation of optimal trajectories for target tracking with a quadrotor while satisfying a set of image-based and actuation constraints. We consider a quadrotor equipped with a camera (either down or front-looking) with limited field of view. The aim is to f...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2018-10, Vol.3 (4), p.3725-3732
Main Authors: Penin, Bryan, Giordano, Paolo Robuffo, Chaumette, Francois
Format: Article
Language:English
Subjects:
Actuation
Algorithms
Cameras
Computer Science
Computer simulation
Field of view
Multiple objective analysis
Nonlinear programming
Occlusion
Optimization
optimization and optimal control
Parameterization
Planning
Predictive control
Quadratic programming
Reactive and sensor-based planning
Robotics
Robots
Splines
Target tracking
Task analysis
Tracking
Trajectory
Vision
visual-based navigation
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Summary:In this letter, we investigate the online generation of optimal trajectories for target tracking with a quadrotor while satisfying a set of image-based and actuation constraints. We consider a quadrotor equipped with a camera (either down or front-looking) with limited field of view. The aim is to follow in a smooth but reactive way a moving target while avoiding obstacles in the environment and occlusions in the image space. We propose vision-based approaches based on multiobjective optimization, especially with the occlusion constraint formulation. We design an online replanning strategy inspired from model predictive control that successively solves a nonlinear optimization problem. The problem is formulated as a nonlinear program (NLP) using differential flatness and finite parametrization with B-Splines. This allows a resolution by sequential quadratic programming (SQP) at a rate of 30 Hz. The robustness and reactivity of the replanning algorithm are demonstrated through realistic simulation results. Experiments validating the performance with a real quadrotor are also presented.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2018.2856526