An Agile Quadrotor Motion Planning Method for Dynamic Target Following Flight
Li Zou, Zhenyi Wang · 2023
Autonomous quadrotor has demonstrated its great potential in a variety of applications. The utility of the visual perception capabilities and agility of a quadrotor in a complex environment gains much attention in some difficult missions, such as surveillance and photograph. These tasks require quadrotor to keep the target in sight and generating a safe trajectory at the same time, which remains a challenging problem due to several factors such as limited computing resource, few available sensors. Few existing works focus on planning an feasible trajectory based on the need of target tracking missions. To migitate this problem, we propse a improved trajectory generating method based on our conception of vision direction and implement our method with recent popular planner framework. To validate this method, we run it in a simulation environment and the results show its effectiveness.