I am Naveen T R, 2nd semester MS student at Ohio State University (CSE). I came across this interesting project of Path Planning for Rovers and multicopters.
I am working on my approach to solve the problem and my proposal.
Few things I wanted to clarify (if my assumption/thinking is wrong):-
- The initial list of obstacles given to the user would be static obstacles.
- As we start our journey to destination, we can come across static or dynamic objects. We need to take an action appropriately and proceed towards our destination. (We need to consider multiple dynamic objects which might be traveling towards/obstructing our path to destination. Solving this considering all use-case might be challenging).
- There is a dependency of completing “Object avoidance improvements for multicopters” by adding occupancy grids using OctoMap. Path planning for multicopter requires this functionality. Can we take up both the projects?
I believe for Path Planning in multicopters, if OctoMap is given as input that should be sufficient to proceed with implementing the solution.
- I have cloned the codebase and I was looking through the code which I can reuse to build this module. I felt testing would be challenging thing as part of this project. I believe we will be using SITL for testing our code changes rather than using the actual hardware devices.
Thanks for your consideration and time.