Robust Target Tracking Through

Path Planning

The Problem

  • It takes a team of people to fly a drone while tracking bad guys

The Solution

  • Give the drones an autopilot that will try to follow the important bad guys and free the humans to do other things

The Algorithm

  • Plan a path that:
    • Keeps the target in camera frame
    • Reacquires the target if lost
    • Maintains efficiency

The Algorithm - Viewshed

  • Generate a viewshed to get the viewable area from any given point
  • Use that to influence the score

The Algorithm - RRT*

  • Rapidly Exploring Random Tree
  • The * indicates optimality
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