Motion Planning with Crazyflie Drone

Motion Planning essentially answers the question How to get from point A to point B? given the map of the environment. In this project on Udacity, the drone had to navigate through an urban environment with tall buildings to reach the destination specified as GPS coordinates. You can checkout the Udacity project along with my solution to the project here. In this blog post, we will port the Udacity project to Crazyflie, a micro-UAV that can be safely used indoors. We use local coordinates indoors derived from the flow deck for lateral position (x and y coordinate) and laser range sensor for…