Knowledge Commons of Institute of Automation,CAS
A Moving Target Tracking System of Quadrotors with Visual-Inertial Localization | |
LIN, Ziyue; XU, Wenbo; WANG, Wei | |
2023-06 | |
会议名称 | 2023 IEEE International Conference on Robotics and Automation (ICRA 2023) |
页码 | pp. 3296-3302 |
会议日期 | May 29 - June 2, 2023 |
会议地点 | London, UK |
出版者 | IEEE |
摘要 | This paper implements a vision-based moving target tracking system of quadrotors with visual-inertial localization in GNSS-denied indoor environments. We use the visual-inertial odometry to estimate the states of the UAV by minimizing visual and inertial residuals, and estimate the states of the target with extended Kalman Filter from visual detection. This research formulates the target tracking problem as optimization-based trajectory generation where a weighted sum cost function jointly penalizes the tracking error, the control cost of the trajectory and the trajectory length, while enforcing the safety and feasibility constraints. We present a strategy that represents the trajectory as piecewise Bezier curves using Bernstein polynomial basis. Due ´ to the special properties of Bezier curves, the position of the ´ entire trajectory and its derivatives can be directly bounded within the safe spaces, thus this facilitating the dynamics of the quadrotor. The proposed strategy can generate smooth and collision-free tracking trajectories and is time and space efficient. We conduct simulations and real-world experiments to validate the effectiveness of our system. |
收录类别 | EI |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 多智能体决策 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/51883 |
专题 | 复杂系统认知与决策实验室_决策指挥与体系智能 |
通讯作者 | LIN, Ziyue |
作者单位 | 1.中国科学院大学 2.中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | LIN, Ziyue,XU, Wenbo,WANG, Wei. A Moving Target Tracking System of Quadrotors with Visual-Inertial Localization[C]:IEEE,2023:pp. 3296-3302. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A Moving Target Trac(4344KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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