Complete path planning algorithm. Continuously generates a path for the autopilot to follow. The path is based on static and non-static information.
Static information
- flight boundary
- static obstacles
Non-static information
- waypoints
- moving obstacles
- current position
Build a graph filling the flight boundary, with nodes inside static obstacles removed.
Keep the graph up to date, with nodes within moving obstacles removed.
Build a path approximation using the current graph, from the current waypoint to the next few.
Smooth and optimize path based on current position and moving obstacles.