I don't want a global planner since I have no information about the environment yet and also I want the quadcopter to be able to avoid obstacles in dynamic environment. When there's no longer any obstacle along the way, fly directly towards goal location. Now what I want to achieve is instead of moving directly towards my goal location use data from LiDAR, detect if there're some obstacles along the way and generate another heading so that the quadcopter can avoid those obstacles (form of a local planner). I've written some PID controllers generating attitude of quadcopter and throttle of motors to move it to given location (simple form of autopilot). I have right now a quadcopter with LiDAR attached to it in Gazebo simulator.
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