Optimal Rapidly exploring Random tree(RRT*) for path palnning in 3D space for Quadrotors

The aim of our project is to implement the path planning algorithm presented in the paper “RRT-based 3D Path Planning for Formation Landing of Quadrotor UAVs” and upgrade the path planning algorithm to an optimised RRT* algorithm and simulate the Quadrotor motion in Gazebo using ROS

Simulation Demo

Authors

• Arjun Srinivasan
• Pradeep

Installation

Mavros installation

sudo apt-get install ros-kinetic-mavros ros-kinetic-mavros-extras

source this->

wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh

./install_geographiclib_datasets.sh

For initiating mavros to px4 connection

roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"

For PX4

Download and source this script ->https://raw.githubusercontent.com/PX4/Devguide/v1.8.0/build_scripts/ubuntu_sim_ros_gazebo.sh

git clone https://github.com/PX4/Firmware.git

To launch PX4->

                        cd <Firmware_clone>
			make posix_sitl_default gazebo
			source ~/catkin_ws/devel/setup.bash    // (optional)
			source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/posix_sitl_default
			export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
			export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
			roslaunch px4 posix_sitl.launch

Create a ROS package and run this python file

python missionfly2.py