Implementation and basic experiments of kinodynamic motion planning for a quadrotor

In this paper, kinodynamic motion planning is described for keeping the attitude of a quadrotor and converging to an arbitrary target point, while avoiding obstacles. Kinodynamic motion planning was extended for a quadrotor in our previous research, but its behavior was confirmed only in simulations. Therefore, we implement the proposed kinodynamic motion planning to an actual quadrotor, and confirm the usability of our method through basic motion experiments.