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 \(R^3\) 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.