Abstract
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.
S. Lee and S. Chang—Both authors have equally contributed.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Lee, E.M., Choi, D., Myung, H.: Peacock exploration: a lightweight exploration for UAV using control-efficient trajectory. In: Chew, E., et al. (eds.) RiTA 2020. LNME, pp. 136–146. Springer, Singapore (2021). https://doi.org/10.1007/978-981-16-4803-8_16
Lee, E.M., Choi, J., Lim, H., Myung, H.: REAL: rapid exploration with active loop-closing toward large-scale 3D mapping using UAVs. arXiv preprint arXiv:2108.02590 (2021)
Choi, D., Lee, E. M. and Myung, H.: Online 3D coverage path planning using surface vector. In: Proceedings of the International Conference on Ubiquitous Robots (UR), pp. 392–396 (2021)
Myeong, W., Choi, S., Myung, H.: A drastic pose change and perching algorithm for the wall climbing drone. In: Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), p. 4783 (2015)
Myeong, W., Song, S., Myung, H.: Development of a wall-climbing drone with a rotary arm for climbing. In: Proceedings of the International Conference on Ubiquitous Robots (UR) (2018)
Myeong, W., Song, S., Jung, G., Myung, H.: Development of soft perching system using tilting mechanism for wall-climbing drone. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2017)
Myeong, W., Jung, K., Myung, H.: Development of FAROS (fire-proof drone) using an aramid fiber armor and air buffer layer. In: Proceedings of the International Conference on on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 204–207 (2017)
Mellinger, D., Kumar, V.: Minimum snap trajectory generation and control for quadrotors. In: Proceedings of the International Conference on Robotics and Automation (ICRA), pp. 2520–2525 (2011)
Hu, X., Olesen, D., Knudsen, P.: Trajectory generation using semidefinite programming for multi-rotors. In: Proceedings of the European Control Conference (ECC), pp. 2577–2582 (2019)
Richter, C., Bry, A., Roy, N.: Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments. In: Inaba, M., Corke, P. (eds.) Robotics Research. Springer Tracts in Advanced Robotics, vol. 114, pp. 649–666. Springer, Cham (2016). https://doi.org/10.1007/978-3-319-28872-7_37
Han, Z., Zhang, R., Pan, N., Xu, C., Gao, F.: Fast-tracker: a robust aerial system for tracking agile target in cluttered environments. In: Proceedings of the International Conference on Robotics and Automation (ICRA) (2021)
Pan, N., Zhang, R., Yang, T., Xu, C., Gao, F.: Fast-tracker 2.0: improving autonomy of aerial tracking with active vision and human location regression, arXiv preprint arXiv:2103.06522 (2021)
Guennebaud, G., Jacob, B., Avery, P., Bachrach, A., Barthelemy, S.: Eigen v3 (2010)
Stellato, B., Banjac, G., Goulart, P., Bemporad, A., Boyd, S.: OSQP: an operator splitting solver for quadratic programs. Math. Program. Comput. 12(4), 637–672 (2020)
Bochkovskiy, A., Wang, C., Liao, H.: YOLOv4: optimal speed and accuracy of object detection. arXiv preprint arXiv:2004.10934 (2020)
Koenig, N., Andrew, H.: Design and use paradigms for Gazebo, an open-source multi-robot simulator. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2149–2154 (2004)
Acknowledgement
This paper was funded by Korea Electric Power Corporation (Development of Robot System for Patrol and Inspection of Underground Power Transmission Tunnels). The students are supported by BK21 FOUR. Special thanks to Meerecompany Inc. for providing their sensor.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Lee, S. et al. (2022). TPL: Trajectory Planner for Target Tracking in Low-Light Environments. In: Kim, J., et al. Robot Intelligence Technology and Applications 6. RiTA 2021. Lecture Notes in Networks and Systems, vol 429. Springer, Cham. https://doi.org/10.1007/978-3-030-97672-9_2
Download citation
DOI: https://doi.org/10.1007/978-3-030-97672-9_2
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-97671-2
Online ISBN: 978-3-030-97672-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)