Path planning is a vital step in robot autonomy. In this project, we implement an RRT* path planner to find an efficient path in a large 3D environment. Next, we develop a minimum snap trajectory planner to convert the path into a smooth trajectory dynamically feasible by our aerial robot. We run this trajectory through a cascading controller to get the robot control input and tune the entire system to achieve fast, reliable trajectory generation and execution.

Below is a video of our path planner and trajectory planner on a simulated environment and a simulated drone with fully simulated dynamics.