Design of path planning and tracking control of quadrotor

<p style='text-indent:20px;'>In this paper, we first design a motion planning system based on the Batch Informed Trees (BIT*) algorithm for quadrotor and linear model predictive control (LMPC) is applied to solve path tracking problem quadrotor. BIT* used plan barrier-free trajectory quickly in an obstructed environment. Then apply full state track generated trajectory. Finally, simulation case presented using RVIZ visual interface some cases are MATLAB / Simulink. The results demonstrate capability effectiveness of strategy fast stability, while desired performance achieved.</p>