Online Trajectory Generation of a MAV for Chasing a Moving Target in 3D Dense Environments

  title={Online Trajectory Generation of a MAV for Chasing a Moving Target in 3D Dense Environments},
  author={Boseong Felipe Jeon and H. Jin Kim},
  journal={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  • B. JeonH. Kim
  • Published 6 April 2019
  • Computer Science
  • 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
This work deals with a moving target chasing mission of an aerial vehicle equipped with a vision sensor in a cluttered environment. In contrast to obstacle-free or sparse environments, the chaser should be able to handle collision and occlusion together with flight efficiency. In order to tackle these challenges in real-time, we introduce a metric for target visibility and propose a hierarchical chasing planner. In the first phase, we generate a sequence of waypoints and chasing corridors which… 

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