Elastic Tracker: A Spatio-temporal Trajectory Planner for Flexible Aerial Tracking
Jialin Ji,Neng Pan,Chao Xu,Fei Gao,Jialin Ji,Neng Pan,Chao Xu,Fei Gao
This paper proposes Elastic Tracker, a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility. Firstly, an object detection and intension-free motion prediction method is designed. Then an occlusion-aware path finding method is proposed to provide a proper topology. A smart safe flight corridor generation strategy is designed with...
