yzlicloud / path_planning

Quadcopter path planning using RRT* and minimum jerk trajectory generation

[Update] A slightly better documented version of this can be found here: https://github.com/ArduPilot/OctomapPlanner

path_planning

Quadcopter path planning using RRT* and minimum jerk trajectory generation

Red represents minimum jerk trajectory while green represents a bspline trajectory through the visibility graph generated from RRT*

For futher information take a look at this issue