论文标题
快速跟踪器：一个可靠的空中系统，用于在混乱的环境中跟踪敏捷目标
Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments
论文作者
论文摘要
本文提出了一种系统的解决方案，该解决方案使用无人机（UAV）积极，安全地跟踪敏捷目标。该解决方案正确处理了挑战性的情况，在这种情况下，无人机的目标和密集环境的意图是未知的。我们的工作分为两个部分：目标运动预测和跟踪轨迹计划。目标运动预测方法利用目标观测来可靠地预测目标的未来运动考虑动态约束。跟踪轨迹策划者遵循传统的层次结构工作流程。采用目标知情的运动动力搜索方法作为前端，启发式地搜索了安全的跟踪轨迹。然后，后端优化器将其精制成空间时空的最佳轨迹和无碰撞轨迹。所提出的解决方案集成到机载四面体系统中。我们在挑战现实世界跟踪任务方面进行了充分测试该系统。此外，基准比较验证所提出的方法是否超过了时间效率和跟踪效率的尖端方法。
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense environments are unknown to the UAV. Our work is divided into two parts: target motion prediction and tracking trajectory planning. The target motion prediction method utilizes target observations to reliably predict the future motion of the target considering dynamic constraints. The tracking trajectory planner follows the traditional hierarchical workflow.A target informed kinodynamic searching method is adopted as the front-end, which heuristically searches for a safe tracking trajectory. The back-end optimizer then refines it into a spatial-temporal optimal and collision-free trajectory. The proposed solution is integrated into an onboard quadrotor system. We fully test the system in challenging real-world tracking missions.Moreover, benchmark comparisons validate that the proposed method surpasses the cutting-edge methods on time efficiency and tracking effectiveness.
