Dynamic obstacle avoidance path planning for UAV

In many quadrotor missions, arriving at the assigned place without collision with dynamic obstacles is crucial. In this paper, we address the problem of dynamic path planning for unmanned aerial vehicles. The framework combines RRT* and dynamic window approach to solve dynamic obstacle avoidance in partial unknown environment. Two planning layers communicate with each other to follow the global path while changing the local path for appeared obstacles. Finally, this approach was verified under ROS development platform.