Print Email Facebook Twitter RAST: Risk-Aware Spatio-Temporal Safety Corridors for MAV Navigation in Dynamic Uncertain Environments Title RAST: Risk-Aware Spatio-Temporal Safety Corridors for MAV Navigation in Dynamic Uncertain Environments Author Cheng, Gang (Shanghai Jiaotong University) Wu, S. (Student TU Delft) Shi, M. (Student TU Delft) Dong, W. (Shanghai Jiaotong University) Zhu, H. (TU Delft Learning & Autonomous Control) Alonso-Mora, J. (TU Delft Learning & Autonomous Control) Date 2023 Abstract Autonomous navigation of Micro Aerial Vehicles (MAVs) in dynamic and unknown environments is a complex and challenging task. Current works rely on assumptions to solve the problem. The MAV's pose is precisely known, the dynamic obstacles can be explicitly segmented from static ones, their number is known and fixed, or they can be modeled with given shapes. In this paper, we present a method for MAV navigation in dynamic uncertain environments without making any of these assumptions. The method employs a particle-based dynamic map to represent the local environment and predicts it to the near future. Collision risk is defined based on the predicted maps and a series of risk-aware spatio-temporal (RAST) safety corridors are constructed, which are finally used to optimize a dynamically-feasible collision-free trajectory for the MAV. We compared our method with several state-of-the-art works in 12000 simulation tests in Gazebo with the physical engine enabled. The results show that our method has the highest success rate at different uncertainty levels. Finally, we validated the proposed method in real experiments. Subject Aerial systemscollision avoidancemotion and path planningperception and autonomy To reference this document use: http://resolver.tudelft.nl/uuid:2f4a5110-bd58-4f00-9989-721915a1d7d4 DOI https://doi.org/10.1109/LRA.2022.3231832 Embargo date 2023-06-23 ISSN 2377-3766 Source IEEE Robotics and Automation Letters, 8 (2), 808-815 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2023 Gang Cheng, S. Wu, M. Shi, W. Dong, H. Zhu, J. Alonso-Mora Files PDF RAST_Risk_Aware_Spatio_Te ... nments.pdf 9.03 MB Close viewer /islandora/object/uuid:2f4a5110-bd58-4f00-9989-721915a1d7d4/datastream/OBJ/view