Quadrotor motion planning and control in dynamic environments using RRT and nonlinear MPC
Requires MATLAB's Model Predictive Control toolbox!.
- run 'runRRT.m' to run and simultaneously visualize the RRT algorithm at work for the current room configuration (not necessary, see 'output' folder)
- run MPC_INIT.m to run the Model Predictive Controller tracking the path generated by RRT while avoiding obstacles.