https://relo02.github.io/tags/path-planning/Path PlanningHugo Blox Builder (https://hugoblox.com)en-usMon, 03 Nov 2025 00:00:00 +0000https://relo02.github.io/media/icon_hu_982c5d63a71b2961.pnghttps://relo02.github.io/tags/path-planning/https://relo02.github.io/projects/drone-trajectory-planning/Mon, 03 Nov 2025 00:00:00 +0000https://relo02.github.io/projects/drone-trajectory-planning/<h2 id="problem">Problem</h2> <p>Autonomous navigation in GPS-denied or dynamic environments requires robust local path planning that can react to obstacles in real-time while optimizing trajectory efficiency.</p> <h2 id="approach">Approach</h2> <ul> <li>Implemented <strong>Model Predictive Control (MPC)</strong> for local trajectory optimization</li> <li>Integrated with ROS 2 navigation stack with gazebo simulation and PX4 low levels controllers</li> <li>Tested on a Quadcopter</li> <li>Combined with SLAM</li> </ul> <h2 id="technologies">Technologies</h2> <ul> <li><strong>Frameworks:</strong> ROS 2, MPC library CasADi</li> <li><strong>Sensors:</strong> LiDAR, IMU</li> <li><strong>Hardware:</strong> Quadcopter with pixhawk flight controller and Jetson Orin Nano used for higher computations</li> </ul>