Quadrotor Motion Planning

Expanding upon RRT* with a line-of-sight check.

Here you can see the generated path being chased.

In this report we present a comparison between RRT, RRT* and Informed-RRT* path planners in R3 for a general quad-rotor. We compare their runtime performance and optimal path cost in two unique environments. We introduce kinodynamic constraints to prevent collisions and evaluate their impact on runtime performance.

Check out the project on GitHub!