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Artificial Life and Robotics
Erschienen in: Artificial Life and Robotics 1/2022

17.11.2021 | Original Article

Optimal trajectory generation of a drone for wheelchair tracking using mixed-integer programming

verfasst von: Shun Watanabe, Masakazu Mukai

Erschienen in: Artificial Life and Robotics | Ausgabe 1/2022

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Abstract

This study considers the optimal-trajectory generation problem in which a drone recognizes a wheelchair with an onboard camera while avoiding collision with obstacles. The optimal-trajectory generation was developed as a mixed-integer programming problem. The same method was used to recognize the wheelchair. In this regard, the optimal-trajectory generation problem was solved at each time step using model predictive control, and the first element of the optimal input was applied. The MATLAB optimization toolbox was used to solve this problem. As a result, the drone could avoid obstacles while recognizing the wheelchair that moved to the target trajectory considering the signals transmitted by the drone.
Vorheriger Artikel A new method to estimate the pose of an arbitrary 3D object without prerequisite knowledge: projection-based 3D perception
Nächster Artikel Stereo-vision-based AUV navigation system for resetting the inertial navigation system error

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Metadaten
Titel
Optimal trajectory generation of a drone for wheelchair tracking using mixed-integer programming
verfasst von
Shun Watanabe
Masakazu Mukai
Publikationsdatum
17.11.2021
Verlag
Springer Japan
Erschienen in
Artificial Life and Robotics / Ausgabe 1/2022
Print ISSN: 1433-5298
Elektronische ISSN: 1614-7456
DOI
https://doi.org/10.1007/s10015-021-00710-1

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