Integrated Motion Planner for Real-time Aerial Videography with a Drone in a Dense Environment
Boseong Jeon,Yunwoo Lee,H. Jin Kim,Boseong Jeon,Yunwoo Lee,H. Jin Kim
This work suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module which can be applied to dense environments and 2) a hierarchical chasing planner. Leveraging covariant optimization, the prediction module estimates the future mo...
