Safe autonomous navigation of microair vehicles in cluttered dynamic environments is challenging due to the uncertainties arising from robot localization, sensing, and motion disturbances. This letter presents a probabilistic collision avoidance method for navigation among other robots and moving obstacles, such as humans. The approach explicitly considers the collision probability between each robot and obstacle and formulates a chance constrained nonlinear model predictive control problem (CCNMPC). A tight bound for approximation of collision probability is developed, which makes the CCNMPC formulation tractable and solvable in real time. For multirobot coordination, we describe three approaches, one distributed without communication (constant velocity assumption), one distributed with communication (of previous plans), and one centralized (sequential planning). We evaluate the proposed method in experiments with two quadrotors sharing the space with two humans and verify the multirobot coordination strategy in simulation with up to sixteen quadrotors.
- collision avoidance
- motion and path planning
- Path planning for multiple mobile robots or agents