Risk-Aware Obstacle Avoidance Algorithm for Real-Time Applications

TL;DR

This paper presents a hybrid risk-aware navigation system for autonomous surface vessels that integrates probabilistic obstacle modeling with smooth trajectory optimization, enhancing safety and adaptability in dynamic marine environments.

Contribution

It introduces a novel hybrid architecture combining probabilistic risk maps with smooth trajectory planning and multiple RRT* modes for improved autonomous navigation.

Findings

Demonstrates safe navigation in static and dynamic obstacle scenarios

Shows improved safety and operational performance over traditional methods

Provides a flexible framework adaptable to changing environmental risks

Abstract

Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic modeling of obstacles along the vehicle path with smooth trajectory optimization for autonomous surface vessels. The system constructs probabilistic risk maps that capture both obstacle proximity and the behavior of dynamic objects. A risk-biased Rapidly Exploring Random Tree (RRT) planner leverages these maps to generate collision-free paths, which are subsequently refined using B-spline algorithms to ensure trajectory continuity. Three distinct RRT* rewiring modes are implemented based on the cost function: minimizing the path length, minimizing risk, and optimizing a combination of the path length and total risk. The framework is evaluated in experimental scenarios containing both static and dynamic obstacles. The results demonstrate the system's ability to navigate safely, maintain smooth trajectories, and dynamically adapt to changing environmental risks. Compared with conventional LIDAR or vision-only navigation approaches, the proposed method shows improvements in operational safety and autonomy, establishing it as a promising solution for risk-aware autonomous vehicle missions in uncertain and dynamic environments.