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題名 多無人機協作拍攝之路徑規劃系統
A Path Planning System for Collaborative Cinematography with Multiple Drones作者 劉又誠
Liu, Yu-Cheng貢獻者 李蔡彥
Li, Tsai-Yen
劉又誠
Liu, Yu-Cheng關鍵詞 無人機
多機器人運動規劃
路徑規劃
Best First Search 演算法
UAV
Multi-robot motion planning
Path planning
Best First Search Algorithm日期 2022 上傳時間 1-Jul-2022 16:20:56 (UTC+8) 摘要 隨著無人機技術日益進步，使用無人機拍攝影片變得越來越普及於一般消費者之間。無人機由於具有輕巧且機動性高及較不受地形限制的特性，因此在電影拍攝上甚至可以取代以往空拍所使用的直升機或吊車等大型機械。然而，市售無人機大多為使用者藉由搖桿與智慧型手機進行手動操控，缺乏自主運動規劃能力。本研究的目標在設計多無人機協作拍攝之路徑規劃系統。本論文以Best First Search演算法為基礎透過主從分散計算方式進行路徑規劃，在不同的任務條件與環境下，所開發系統可依使用者需求自動生成且滿足使用者指定拍攝手法及避開障礙物的多無人機協作拍攝路徑，並且無人機之間可以互相切換的方式，避開畫面受到障礙物長時遮蔽或拍攝品質不佳的狀況，使無人機之間具有互補的作用。我們於Unity3D模擬環境中模擬實際的拍攝狀況，於三種不同的環境下進行模擬，實驗結果顯示本研究所提出的系統可以規劃出一組無人機之間不會互相發生碰撞，且能夠互相合作進行拍攝任務的拍攝路徑，拍攝過程中從無人機不會飛入主無人機視野，並且從無人機會嘗試尋找比主無人機更好的拍攝路徑來接手拍攝。
Due to the recent advances in drone technologies, using drones for film productions is becoming prevalent. However, most drones on the market are manually controlled by users with joysticks or smartphones and lack the ability of path planning. The goal of this research is to design a path planner for collaborative cinematography of multiple drones. Our system is based on the Best First Search algorithm and takes a decoupled approach by designating the roles of master and slave to drones alternatively. Under different task conditions and environments, the developed system can automatically generate collision-free paths for collaborative cinematography of multiple drones ac-cording to the user`s needs on shooting methods. The generated plan allows the drones to complement each other by automatically switching their roles to avoid degrading shooting quality such as being blocked by obstacles for a long time. We simulated the filming in Unity3D with three different environments. The experimental results show that the proposed system can generate paths for multiple drones such that they can co-operate and do not collide with each other. During the filming process, the slave drone will not only fly into the field of view of the master drone but also try to find a better switching position to take over the master drone.參考文獻 [1] L. Yang, J. Qi, J. Xiao, and X. Yong, "A literature review of UAV 3D path planning," in Proceeding of the 11th World Congress on Intelligent Control and Automation, 2014, pp. 2376-2381: IEEE.[2] S. Karaman and E. Frazzoli, "Sampling-based algorithms for optimal motion planning," The international journal of robotics research, vol. 30, no. 7, pp. 846-894, 2011.[3] T. Oskam, R. W. Sumner, N. Thuerey, and M. Gross, "Visibility transition planning for dynamic camera control," in Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, 2009, pp. 55-65.[4] T. Nägeli, J. Alonso-Mora, A. Domahidi, D. Rus, and O. Hilliges, "Real-time motion planning for aerial videography with dynamic obstacle avoidance and viewpoint optimization," IEEE Robotics and Automation Letters, vol. 2, no. 3, pp. 1696-1703, 2017.[5] Q. Galvane, J. Fleureau, F.-L. Tariolle, and P. Guillotel, "Automated cinematography with unmanned aerial vehicles," arXiv preprint arXiv:1712.04353, 2017.[6] C. Gebhardt and O. Hilliges, "WYFIWYG: Investigating effective user support in aerial videography," arXiv preprint arXiv:1801.05972, 2018.[7] C. Gebhardt, B. Hepp, T. Nägeli, S. Stevšić, and O. Hilliges, "Airways: Optimization-based planning of quadrotor trajectories according to high-level user goals," in Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems, 2016, pp. 2508-2519.[8] R. Ronfard, L. Boiron, I. Ljk, and P. Art, "The prose storyboard language," in proceedings of AAAI Workshop on Intelligent Cinematography and Editing, 2013, vol. 3: Citeseer.[9] C. Huang, F. Gao, J. Pan, "Act: An autonomous drone cinematography system for action scenes," in 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, pp. 7039-7046: IEEE.[10] T. Nägeli, L. Meier, A. Domahidi, J. Alonso-Mora, and O. Hilliges, "Real-time planning for automated multi-view drone cinematography," ACM Transactions on Graphics (TOG), vol. 36, no. 4, pp. 1-10, 2017.[11] I. Mademlis, V. Mygdalis, N. Nikolaidis, "High-level multiple-UAV cinematography tools for covering outdoor events," IEEE Transactions on Broadcasting, vol. 65, no. 3, pp. 627-635, 2019.[12] R. Bonatti, Y. Zhang, S. Choudhury, W. Wang, and S. Scherer, "Autonomous drone cinematographer: Using artistic principles to create smooth, safe, occlusion-free trajectories for aerial filming," in proceeding of International Symposium on Experimental Robotics, 2018, pp. 119-129: Springer.[13] M. Bennewitz, W. Burgard, and S. Thrun, "Optimizing schedules for prioritized path planning of multi-robot systems," in Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164), 2001, vol. 1, pp. 271-276: IEEE.[14] J. Shao, D. Luo, Y. Xu, and H. Duan, "Cooperative path planning for multiple robots with motion constraints in obstacle-strewn environment," IEEE Access, vol. 7, pp. 132286-132301, 2019.[15] M. Bennewitz, W. Burgard, and S. Thrun, "Finding and optimizing solvable priority schemes for decoupled path planning techniques for teams of mobile robots," Robotics and Autonomous Systems, vol. 41, no. 2, pp. 89-99, 2002/11/30/ 2002.[16] J. van Den Berg, J. Snoeyink, M. C. Lin, and D. Manocha, "Centralized path planning for multiple robots: Optimal decoupling into sequential plans," Robotics: Science and systems, 2009, vol. 2, no. 2.5, p. 2.3.[17] T.-Y. Li and H.-C. Chou, "Motion planning for a crowd of robots," in 2003 IEEE International Conference on Robotics and Automation (Cat. No. 03CH37422), 2003, vol. 3, pp. 4215-4221: IEEE. 描述 碩士
國立政治大學
資訊科學系
108753139資料來源 http://thesis.lib.nccu.edu.tw/record/#G0108753139 資料類型 thesis dc.contributor.advisor 李蔡彥 zh_TW dc.contributor.advisor Li, Tsai-Yen en_US dc.contributor.author (Authors) 劉又誠 zh_TW dc.contributor.author (Authors) Liu, Yu-Cheng en_US dc.creator (作者) 劉又誠 zh_TW dc.creator (作者) Liu, Yu-Cheng en_US dc.date (日期) 2022 en_US dc.date.accessioned 1-Jul-2022 16:20:56 (UTC+8) - dc.date.available 1-Jul-2022 16:20:56 (UTC+8) - dc.date.issued (上傳時間) 1-Jul-2022 16:20:56 (UTC+8) - dc.identifier (Other Identifiers) G0108753139 en_US dc.identifier.uri (URI) http://nccur.lib.nccu.edu.tw/handle/140.119/140660 - dc.description (描述) 碩士 zh_TW dc.description (描述) 國立政治大學 zh_TW dc.description (描述) 資訊科學系 zh_TW dc.description (描述) 108753139 zh_TW dc.description.abstract (摘要) 隨著無人機技術日益進步，使用無人機拍攝影片變得越來越普及於一般消費者之間。無人機由於具有輕巧且機動性高及較不受地形限制的特性，因此在電影拍攝上甚至可以取代以往空拍所使用的直升機或吊車等大型機械。然而，市售無人機大多為使用者藉由搖桿與智慧型手機進行手動操控，缺乏自主運動規劃能力。本研究的目標在設計多無人機協作拍攝之路徑規劃系統。本論文以Best First Search演算法為基礎透過主從分散計算方式進行路徑規劃，在不同的任務條件與環境下，所開發系統可依使用者需求自動生成且滿足使用者指定拍攝手法及避開障礙物的多無人機協作拍攝路徑，並且無人機之間可以互相切換的方式，避開畫面受到障礙物長時遮蔽或拍攝品質不佳的狀況，使無人機之間具有互補的作用。我們於Unity3D模擬環境中模擬實際的拍攝狀況，於三種不同的環境下進行模擬，實驗結果顯示本研究所提出的系統可以規劃出一組無人機之間不會互相發生碰撞，且能夠互相合作進行拍攝任務的拍攝路徑，拍攝過程中從無人機不會飛入主無人機視野，並且從無人機會嘗試尋找比主無人機更好的拍攝路徑來接手拍攝。 zh_TW dc.description.abstract (摘要) Due to the recent advances in drone technologies, using drones for film productions is becoming prevalent. However, most drones on the market are manually controlled by users with joysticks or smartphones and lack the ability of path planning. The goal of this research is to design a path planner for collaborative cinematography of multiple drones. Our system is based on the Best First Search algorithm and takes a decoupled approach by designating the roles of master and slave to drones alternatively. Under different task conditions and environments, the developed system can automatically generate collision-free paths for collaborative cinematography of multiple drones ac-cording to the user`s needs on shooting methods. The generated plan allows the drones to complement each other by automatically switching their roles to avoid degrading shooting quality such as being blocked by obstacles for a long time. We simulated the filming in Unity3D with three different environments. The experimental results show that the proposed system can generate paths for multiple drones such that they can co-operate and do not collide with each other. During the filming process, the slave drone will not only fly into the field of view of the master drone but also try to find a better switching position to take over the master drone. en_US dc.description.tableofcontents 致謝 II摘要 IAbstract II目錄 III圖目錄 IV第1章 導論 11.1 研究背景與動機 11.2 研究目標 21.3 論文貢獻 31.4 論文架構 3第2章 背景知識與相關研究 42.1 機器人的運動規劃演算法 42.2 無人機的攝影機規劃 72.3 多台無人機協作拍攝 82.4 多機器人的運動規劃 8第3章 系統架構與設計 113.1 研究任務問題定義 113.2 系統架構及流程圖 123.3 三維佔用網格圖 143.4 路徑規劃 143.4.1 單台無人機路徑規劃 153.4.2 多台無人機路徑規劃 20第4章 實驗結果與分析 264.1 實驗說明 264.2 系統展示 304.2.1 單台無人機路徑規劃 314.2.2 多機協作拍攝路徑規劃 364.3 實驗結果分析 414.3.1 場景一實驗結果 424.3.2 場景二實驗結果 454.3.3 場景三實驗結果 494.4 實驗總結 52第5章 結論與未來展望 535.1 研究結論 535.2 未來展望 54參考文獻 55 zh_TW dc.format.extent 4785711 bytes - dc.format.mimetype application/pdf - dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G0108753139 en_US dc.subject (關鍵詞) 無人機 zh_TW dc.subject (關鍵詞) 多機器人運動規劃 zh_TW dc.subject (關鍵詞) 路徑規劃 zh_TW dc.subject (關鍵詞) Best First Search 演算法 zh_TW dc.subject (關鍵詞) UAV en_US dc.subject (關鍵詞) Multi-robot motion planning en_US dc.subject (關鍵詞) Path planning en_US dc.subject (關鍵詞) Best First Search Algorithm en_US dc.title (題名) 多無人機協作拍攝之路徑規劃系統 zh_TW dc.title (題名) A Path Planning System for Collaborative Cinematography with Multiple Drones en_US dc.type (資料類型) thesis en_US dc.relation.reference (參考文獻) [1] L. Yang, J. Qi, J. Xiao, and X. Yong, "A literature review of UAV 3D path planning," in Proceeding of the 11th World Congress on Intelligent Control and Automation, 2014, pp. 2376-2381: IEEE.[2] S. Karaman and E. Frazzoli, "Sampling-based algorithms for optimal motion planning," The international journal of robotics research, vol. 30, no. 7, pp. 846-894, 2011.[3] T. Oskam, R. W. Sumner, N. Thuerey, and M. Gross, "Visibility transition planning for dynamic camera control," in Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, 2009, pp. 55-65.[4] T. Nägeli, J. Alonso-Mora, A. Domahidi, D. Rus, and O. Hilliges, "Real-time motion planning for aerial videography with dynamic obstacle avoidance and viewpoint optimization," IEEE Robotics and Automation Letters, vol. 2, no. 3, pp. 1696-1703, 2017.[5] Q. Galvane, J. Fleureau, F.-L. Tariolle, and P. Guillotel, "Automated cinematography with unmanned aerial vehicles," arXiv preprint arXiv:1712.04353, 2017.[6] C. Gebhardt and O. Hilliges, "WYFIWYG: Investigating effective user support in aerial videography," arXiv preprint arXiv:1801.05972, 2018.[7] C. Gebhardt, B. Hepp, T. Nägeli, S. Stevšić, and O. Hilliges, "Airways: Optimization-based planning of quadrotor trajectories according to high-level user goals," in Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems, 2016, pp. 2508-2519.[8] R. Ronfard, L. Boiron, I. Ljk, and P. Art, "The prose storyboard language," in proceedings of AAAI Workshop on Intelligent Cinematography and Editing, 2013, vol. 3: Citeseer.[9] C. Huang, F. Gao, J. Pan, "Act: An autonomous drone cinematography system for action scenes," in 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, pp. 7039-7046: IEEE.[10] T. Nägeli, L. Meier, A. Domahidi, J. Alonso-Mora, and O. Hilliges, "Real-time planning for automated multi-view drone cinematography," ACM Transactions on Graphics (TOG), vol. 36, no. 4, pp. 1-10, 2017.[11] I. Mademlis, V. Mygdalis, N. Nikolaidis, "High-level multiple-UAV cinematography tools for covering outdoor events," IEEE Transactions on Broadcasting, vol. 65, no. 3, pp. 627-635, 2019.[12] R. Bonatti, Y. Zhang, S. Choudhury, W. Wang, and S. Scherer, "Autonomous drone cinematographer: Using artistic principles to create smooth, safe, occlusion-free trajectories for aerial filming," in proceeding of International Symposium on Experimental Robotics, 2018, pp. 119-129: Springer.[13] M. Bennewitz, W. Burgard, and S. Thrun, "Optimizing schedules for prioritized path planning of multi-robot systems," in Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164), 2001, vol. 1, pp. 271-276: IEEE.[14] J. Shao, D. Luo, Y. Xu, and H. Duan, "Cooperative path planning for multiple robots with motion constraints in obstacle-strewn environment," IEEE Access, vol. 7, pp. 132286-132301, 2019.[15] M. Bennewitz, W. Burgard, and S. Thrun, "Finding and optimizing solvable priority schemes for decoupled path planning techniques for teams of mobile robots," Robotics and Autonomous Systems, vol. 41, no. 2, pp. 89-99, 2002/11/30/ 2002.[16] J. van Den Berg, J. Snoeyink, M. C. Lin, and D. Manocha, "Centralized path planning for multiple robots: Optimal decoupling into sequential plans," Robotics: Science and systems, 2009, vol. 2, no. 2.5, p. 2.3.[17] T.-Y. Li and H.-C. Chou, "Motion planning for a crowd of robots," in 2003 IEEE International Conference on Robotics and Automation (Cat. No. 03CH37422), 2003, vol. 3, pp. 4215-4221: IEEE. zh_TW dc.identifier.doi (DOI) 10.6814/NCCU202200663 en_US
