政大機構典藏-National Chengchi University Institutional Repository(NCCUR):Item 140.119/140660

政大機構典藏-National Chengchi University Institutional Repository(NCCUR):Item 140.119/140660

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政大典藏 > College of Informatics > Department of Computer Science > Theses > Item 140.119/140660

Please use this identifier to cite or link to this item: https://nccur.lib.nccu.edu.tw/handle/140.119/140660

Title:	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
Authors:	劉又誠 Liu, Yu-Cheng
Contributors:	李蔡彥 Li, Tsai-Yen 劉又誠 Liu, Yu-Cheng
Keywords:	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
Date:	2022
Issue Date:	2022-07-01 16:20:56 (UTC+8)
Abstract:	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.
Reference:	[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.
Description:	碩士國立政治大學資訊科學系 108753139
Source URI:	http://thesis.lib.nccu.edu.tw/record/#G0108753139
Data Type:	thesis
DOI:	10.6814/NCCU202200663
Appears in Collections:	[Department of Computer Science ] Theses

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