论文标题
摄影的最佳轨迹规划与多个无人机
Optimal Trajectory Planning for Cinematography with Multiple Unmanned Aerial Vehicles
论文作者
论文摘要
本文介绍了一种计划最佳轨迹的方法，该方法由无人驾驶汽车（UAV）团队进行自主摄影。该方法能够以分布式的方式在线计划轨迹，从而在无人机之间提供协调。我们提出了一种新型的非线性配方，以解决这一具有挑战性的计算摄影的最佳最佳轨迹的问题。整合无人机的动态和避免碰撞的限制，以及摄影方面，例如平滑度，kimbal机械限制和相互摄像机的可见性。我们将我们的方法集成到无人机摄影的硬件和软件体系结构中，该摄影先前是在多主项目的框架内开发的；并展示其用不同类型的镜头拍摄户外运动目标的用途。我们在模拟和现场实验方面提供了广泛的实验结果。我们分析了该方法的性能，并证明它能够计算在线平滑轨迹，减少生涩的运动并遵守摄影限制。
This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and in a distributed manner, providing coordination between the UAVs. We propose a novel non-linear formulation for this challenging problem of computing multi-UAV optimal trajectories for cinematography; integrating UAVs dynamics and collision avoidance constraints, together with cinematographic aspects like smoothness, gimbal mechanical limits and mutual camera visibility. We integrate our method within a hardware and software architecture for UAV cinematography that was previously developed within the framework of the MultiDrone project; and demonstrate its use with different types of shots filming a moving target outdoors. We provide extensive experimental results both in simulation and field experiments. We analyze the performance of the method and prove that it is able to compute online smooth trajectories, reducing jerky movements and complying with cinematography constraints.
