The drone is controlled using PID values to navigate in a VREP scene with obstacles. Path is planned using RRTConnect Algorithm of OMPL (Open Motion Planning Library).
To see a simulation of path planning in a VREP environment with obstacles, visit: https://drive.google.com/file/d/1MQIfFD0TraHyMn4xZDRt-LnhTp94NBv7/view?usp=sharing