Risk-Aware Path Planning Using CVaR for Quadrotors
- Resource Type
- Conference
- Authors
- Bian, Jun; Zhang, Jianchun; Guo, Kexin; Li, Wenshuo; Yu, Xiang; Guo, Lei
- Source
- 2023 6th International Symposium on Autonomous Systems (ISAS) Autonomous Systems (ISAS), 2023 6th International Symposium on. :1-6 Jun, 2023
- Subject
- Aerospace
Robotics and Control Systems
Transportation
Uncertainty
Autonomous systems
Simulation
Gaussian distribution
Path planning
Safety
Quadrotors
CVaR-A*
path planning
risk-aware
static position uncertainty
- Language
In the presence of obstacles with static position uncertainty, a risk-aware path planning method using the conditional value-at-risk (CVaR) is proposed. Given the current position of the quadrotor, CVaR can effectively quantify the risk of collision with the static uncertain obstacle whose center of mass (CoM) follows a joint normal distribution. As a specific application of CVaR, the CVaR constrained A*(CVaR-A* for simplicity) algorithm is designed to search for the optimal path while ensuring the safety of the quadrotor. The simulation results are presented to indicate the feasibility and effectiveness of the proposed CVaR-A* algorithm.