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Safety-assured high-speed navigation for MAVs.

Yunfan Ren1, Fangcheng Zhu1, Guozheng Lu1

  • 1Department of Mechanical Engineering, University of Hong Kong, Pokfulam, Hong Kong, China.

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|January 29, 2025
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Summary

The Safety-Assured High-speed Aerial Robot (SUPER) enables autonomous navigation for micro air vehicles (MAVs) in complex environments. This system achieves faster, safer flights by using LIDAR and an efficient planning framework, reducing failure rates significantly.

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Area of Science:

  • Robotics
  • Autonomous Systems
  • Aerospace Engineering

Background:

  • Micro air vehicles (MAVs) require high-speed autonomous navigation for critical applications like search and rescue.
  • Challenges include vehicle size, obstacle detection range, and safe high-speed maneuvering algorithms.
  • Existing systems struggle with balancing speed and safety in unknown, cluttered environments.

Purpose of the Study:

  • To develop a compact MAV system capable of safe, high-speed autonomous navigation in unknown environments.
  • To enhance obstacle detection and trajectory planning for agile flight.
  • To bridge the gap between laboratory MAV research and real-world applications.

Main Methods:

  • Introduction of the Safety-Assured High-speed Aerial Robot (SUPER), a compact MAV with a 280mm wheelbase and thrust-to-weight ratio > 5.0.
  • Utilization of a lightweight 3D Light Detection and Ranging (LIDAR) sensor for accurate, long-range obstacle detection.
  • Development of an efficient trajectory planning framework using LIDAR point clouds, generating separate safe and speed-optimized paths.

Main Results:

  • SUPER demonstrated agile flight in cluttered environments, enabling speeds over 20 m/s in real-world tests.
  • The planning framework reduced failure rates by 35.9 times compared to baseline methods.
  • Achieved faster flight speeds with halved planning time, successfully navigating narrow spaces and avoiding thin obstacles.

Conclusions:

  • SUPER represents a significant advancement in autonomous MAV technology.
  • The developed system effectively addresses the challenges of high-speed, safe navigation in unknown environments.
  • This research paves the way for practical deployment of MAVs in disaster relief and search operations.