2019/04/06 by Boseong Felipe Jeon, H. Jin Kim, Jeon, Boseong Felipe +1 · 2 citations
Computer Science · Engineering · #FOS: Computer and information sciences #Guidance and Control Systems #Robotic Path Planning Algorithms #Robotics (cs.RO) #Spacecraft Dynamics and Control
paper · pdf · doi:10.48550/arxiv.1904.03421
openalex publication_date 2019/04/06 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This work deals with a moving target chasing mission of an aerial vehicle\nequipped with a vision sensor in a cluttered environment. In contrast to\nobstacle-free or sparse environments, the chaser should be able to handle\ncollision and occlusion simultaneously with flight efficiency. In order to\ntackle these challenges with real-time replanning, we introduce a metric for\ntarget visibility and propose a cascaded chasing planner. By means of the\ngraph-search methods, we first generate a sequence of chasing corridors and\nwaypoints which ensure safety and optimize visibility. In the following phase,\nthe corridors and waypoints are utilized as constraints and objective in\nquadratic programming from which we complete a dynamically feasible trajectory\nfor chasing. The proposed algorithm is tested in multiple dense environments.\nThe simulator AutoChaser with full code implementation and GUI can be found in\nhttps://github.com/icsl-Jeon/trajgenvis\n