Simulation of autonomous exploration of a quadcopter

This project aims to develop algorithms enabling quadcopters to autonomously explore unknown environments. This is achieved through the creation of three-dimensional occupancy maps, known as OctoMaps, for spatial representation; wavefront frontier detection (WFD) and Frontier-Tracing Frontier Detection (FTFD) to identify search areas; and RRT* for path planning. A Nonlinear Model Predictive Control (NLMPC) framework manages the quadcopter’s inherent nonlinear dynamics to control its movement. This proof-of-concept implementation demonstrates the feasibility of combining these systems for exploration tasks and has the potential to significantly enhance search and rescue operations in complex environments.