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We explore path planning followed by kinodynamic smoothing while ensuring thevehicle dynamics feasibility for MAVs. We have chosen a geometrically basedmotion planning technique \textquotedblleft RRT*\textquotedblright\; for thispurpose. In the proposed technique, we modified original RRT* introducing anadaptive search space and a steering function which help to increase theconsistency of the planner. Moreover, we propose multiple RRT* which generatesa set of desired paths, provided that the optimal path is selected among them.Then, apply kinodynamic smoothing, which will result in dynamically feasible aswell as obstacle-free path. Thereafter, a b spline-based trajectory isgenerated to maneuver vehicle autonomously in unknown environments. Finally, wehave tested the proposed technique in various simulated environments.

Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs)