Autonomous navigation of micro aerial vehicles in unknown environments not only requires exploring their time-varying surroundings, but also ensuring the complete safety of flights at all times. The current research addresses estimation of the potential exploration value neglect of safety issues, especially in situations with a cluttered environment and no prior knowledge. To address this issue, we propose a vision object-oriented autonomous navigation method for environment exploration, which develops a B-spline function-based local trajectory re-planning algorithm by extracting spatial-structure information and selecting temporary target points. The proposed method is evaluated in a variety of cluttered environments, such as forests, building areas, and mines. The experimental results show that the proposed autonomous navigation system can effectively complete the global trajectory, during which an appropriate safe distance could always be maintained from multiple obstacles in the environment.

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