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Informed RRT* on Octomap for UAVs by Muhammad Adhipatiunus is a document available to read on EtoBox.

What is Informed RRT* on Octomap for UAVs about?

This document summarizes research on using Informed RRT* path planning with an Octomap generated by SLAM to enable navigation of a quadcopter in a virtual environment simulated in Gazebo. The researchers used a stereo depth camera to perform SLAM and generate a point cloud that was converted to an Octomap. Informed RRT* was then implemented using the Octomap to find optimal paths from start to goal positions for the quadcopter while avoiding obstacles. The algorithm was tested in Gazebo on 4 test cases and

Author

Muhammad Adhipatiunus

Language

EN