Path Planning Simulation of a quadrotor in ROS/Gazebo using RGPPM

In this article we are interested in planning collision-free trajectories for the autonomous navigation of a quadrotor. Before planning a trajectory, its start and end points are defined. Subsequently, using Resistive Grid Path Planning Methodology (RGPPM), the trajectory is calculated by modeling the displacement space with a mesh of resistances. This methodology has been expanded to plan 3D trajectories due to the movements in the XYZ axis that the quadrotor can perform in space. The computed trajectories are executed in ROS and Gazebo. The results obtained suggest that the trajectories computed by the RGPPM methodology are suitable for the quadrotor to navigate in a collision-free 3D space.