Real-Time Motion Planning for Aerial Videography With Dynamic Obstacle Avoidance and Viewpoint Optimization
Name
Naegeli2017RA-L.pdf
Description
Accepted version
Size
3.69 MB
Format
Adobe PDF
Checksum (MD5)
81d7993bd6079ebe9c8d691b1d988980
Author(s)
Nageli, Tobias
Alonso-Mora, Javier
Domahidi, Alexander
Rus, Daniela
Hilliges, Otmar
Date Issued
2017
Journal
IEEE Robotics and Automation Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Version
Author's final manuscript
Abstract
© 2017 IEEE. We propose a method for real-time trajectory generation with applications in aerial videography. Taking framing objectives, such as position of targets in the image plane, as input, our method solves for robot trajectories and gimbal controls automatically and adapts plans in real time due to changes in the environment. We contribute a real-time receding horizon planner that autonomously records scenes with moving targets, while optimizing for visibility under occlusion and ensuring collision-free trajectories. A modular cost function, based on the reprojection error of targets, is proposed that allows for flexibility and artistic freedom and is well behaved under numerical optimization. We formulate the minimization problem under constraints as a finite horizon optimal control problem that fulfills aesthetic objectives, adheres to nonlinear model constraints of the filming robot and collision constraints with static and dynamic obstacles and can be solved in real time. We demonstrate the robustness and efficiency of the method with a number of challenging shots filmed in dynamic environments including those with moving obstacles and shots with multiple targets to be filmed simultaneously.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/LRA.2017.2665693
