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.
翻译:本文介绍了与一组无人驾驶航空飞行器(无人驾驶飞行器)进行自主电影摄影工作的最佳轨迹规划方法。该方法能够以分布式方式在线规划轨迹,在无人驾驶飞行器之间提供协调。我们提议了一种新的非线性配方,以应对为电影摄影工作计算多自动驾驶飞行器最佳轨迹这一具有挑战性的问题;将无人驾驶飞行器动态和避免碰撞的制约因素与光滑、Gimbal机械限制和相互摄像可见度等电影摄影学方面结合起来。我们将我们的方法纳入以前在多光速项目框架内开发的无人驾驶飞行器电影摄影硬件和软件结构之中;并展示其与不同类型拍摄移动目标室室外拍摄的镜头的使用。我们在模拟和实地实验中提供了广泛的实验结果。我们分析了该方法的性能,并证明它能够对在线滑动轨迹进行编译,减少自动运动并遵守电影摄影限制。