EDP-Planner

This was also a project I did for my Bachelor Thesis, along with Summer Yiu and Bryant Tang, which is specifically designed for static object searching. In which, we designed an edge detector-based local path planner, named EDP, for obstacle avoidance. Furthermore, the planner is based on naive solution of minimum snap trajectory; the naive solution is defined in terms of waypoint selection as well as time allocation. Futhermore, by utilizing state-of-the-art YOLO object detector, depth image, and low-pass filter, the static objects are searched. Feel free to check out our code on github!