Real-Time Motion Planning for Aerial Videography With Real-Time With Dynamic Obstacle Avoidance and Viewpoint Optimization

@article{Ngeli2017RealTimeMP,
  title={Real-Time Motion Planning for Aerial Videography With Real-Time With Dynamic Obstacle Avoidance and Viewpoint Optimization},
  author={Tobias N{\"a}geli and Javier Alonso-Mora and Alexander Domahidi and Daniela Rus and Otmar Hilliges},
  journal={IEEE Robotics and Automation Letters},
  year={2017},
  volume={2},
  pages={1696-1703}
}
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… CONTINUE READING