https://github.com/zju-fast-lab/elastic-tracker
Elastic Tracker: A Spatio-temporal Trajectory Planner Flexible Aerial Tracking
https://github.com/zju-fast-lab/elastic-tracker
Last synced: about 1 year ago
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Elastic Tracker: A Spatio-temporal Trajectory Planner Flexible Aerial Tracking
- Host: GitHub
- URL: https://github.com/zju-fast-lab/elastic-tracker
- Owner: ZJU-FAST-Lab
- License: gpl-3.0
- Created: 2022-02-27T12:46:16.000Z (over 4 years ago)
- Default Branch: main
- Last Pushed: 2023-06-16T03:36:42.000Z (about 3 years ago)
- Last Synced: 2025-05-09T00:04:32.558Z (about 1 year ago)
- Language: C++
- Homepage:
- Size: 13 MB
- Stars: 241
- Watchers: 4
- Forks: 27
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Elastic-Tracker
## 0. Overview
**Elastic-Tracker** is a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility.
**Authors**: Jialin Ji, Neng Pan and [Fei Gao](https://ustfei.com/) from the [ZJU Fast Lab](http://zju-fast.com/).
**Paper**: [Elastic Tracker: A Spatio-temporal Trajectory Planner Flexible Aerial Tracking](https://arxiv.org/abs/2109.07111), Jialin Ji, Neng Pan, Chao Xu, Fei Gao, Accepted in IEEE International Conference on Robotics and Automation (__ICRA 2022__).
**Video Links**: [youtube](https://www.youtube.com/watch?v=G5taHOpAZj8) or [bilibili](https://www.bilibili.com/video/BV1o44y1b7wC)
## 1. Simulation of Aerial Tracking
[NOTE] remember to change the CUDA option of **src/uav_simulator/local_sensing/CMakeLists.txt**
>Preparation and visualization:
```
git clone https://github.com/ZJU-FAST-Lab/Elastic-Tracker.git
cd Elastic-Tracker
catkin_make
source devel/setup.zsh
chmod +x sh_utils/pub_triger.sh
roslaunch mapping rviz_sim.launch
```
>A small drone with the global map as the chasing target:
```
roslaunch planning fake_target.launch
```
>Start the elastic tracker:
```
roslaunch planning simulation1.launch
```
>Triger the drone to track the target:
```
./sh_utils/pub_triger.sh
```
Comparision of the planners *with*  and *without*  **visibility guarantee**:
```
roslaunch planning simulation2.launch
```
## 2. Simulation of Aerial Landing
> First start the stage of tracking:
```
roslaunch planning fake_car_target.launch
roslaunch planning simulation_landing.launch
./sh_utils/pub_triger.sh
```
> Triger the drone to land on the moving vehicle:
```
./sh_utils/land_triger.sh
```
## 3. Acknowledgement
We use [**MINCO**](https://github.com/ZJU-FAST-Lab/GCOPTER) as our trajectory representation.
We use [**DecompROS**](https://github.com/sikang/DecompROS) for safe flight corridor generation and visualization.