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This paper considers the problem of autonomous robot navigation in unknownenvironments with moving obstacles. We propose a new method that systematicallyputs planning, motion prediction and safety metric design together to achieveenvironmental adaptive and safe navigation. This algorithm balances optimalityin travel distance and safety with respect to passing clearance. Robot adaptsprogress speed adaptively according to the sensed environment, being fast inwide open areas and slow down in narrow passages and taking necessary maneuversto avoid dangerous incoming obstacles. In our method, directional distancemeasure, conic-shape motion prediction and custom costmap are integratedproperly to evaluate system risk accurately with respect to local geometry ofsurrounding environments. Using such risk estimation, reference governortechnique and control barrier function are worked together to enable adaptiveand safe path tracking in dynamical environments. We validate our algorithmextensively both in simulation and challenging real-world environments.

EAST: Environment Aware Safe Tracking using Planning and Control Co-Design