The intention of the target can help us to estimate its future motion state
more accurately. This paper proposes an intention-aware planner to enhance
safety and robustness in aerial tracking applications. Firstly, we utilize the
Mediapipe framework to estimate target's pose. A risk assessment function and a
state observation function are designed to predict the target intention.
Afterwards, an intention-driven hybrid A* method is proposed for target motion
prediction, ensuring that the target's future positions align with its
intention. Finally, an intention-aware optimization approach, in conjunction
with particular penalty formulations, is designed to generate a
spatial-temporal optimal trajectory. Benchmark comparisons validate the
superior performance of our proposed methodology across diverse scenarios. This
is attributed to the integration of the target intention into the planner
through coupled formulations.Comment: 7 pages, 10 figures, submitted to 2024 IEEE International Conference
on Robotics and Automation (ICRA