Motion Planning for a Quadcopter

In this project, we aim to learn and implement different motion planning algorithms.

Path planning algorithms for point object

Dijkstra

A star

Artificial Potential Field

Quiver Plot for APF method

Motion Planning for a quadcopter

Here we tried to implement Astar algorithm to achieve motion planning of a quadcopter. Further we tried to implement minimum snap to minimise the control effort.

References

• Autonomous Navigation, Part 4: Path Planning with A* and RRT, by MATLAB
• A* playlist by Sebastian Lague
• RRT, RRT* & Random Trees by Aaron Becker
• Robotics: Computational Motion Planning
• MEAM 620: Robotics