  We explore path planning followed by kinodynamic smoothing while ensuring the
vehicle dynamics feasibility for MAVs. We have chosen a geometrically based
motion planning technique \textquotedblleft RRT*\textquotedblright\; for this
purpose. In the proposed technique, we modified original RRT* introducing an
adaptive search space and a steering function which help to increase the
consistency of the planner. Moreover, we propose multiple RRT* which generates
a set of desired paths, provided that the optimal path is selected among them.
Then, apply kinodynamic smoothing, which will result in dynamically feasible as
well as obstacle-free path. Thereafter, a b spline-based trajectory is
generated to maneuver vehicle autonomously in unknown environments. Finally, we
have tested the proposed technique in various simulated environments.
