Quadrotor path planning using various sampling strategies on top of Informed RRT*. The waypoints generated by RRT* are then converted into minimum jerk trajectory which can be safely executed by quadrotor. We compared different sampling techniques available in OMPL.
Simulator used is RotorS simulator and a custom world in gazebo is used to test planning. Presentation slides is available as pdf in this repo. Slides (with video) also available at: https://docs.google.com/presentation/d/16FMXLfd58XpUgUPuaS6jyr5mdpZZCXat1t3ytXzrqFE/edit?usp=sharing