Dynamic Obstacle Avoidance for Mobile Robot
Github: https://github.com/Juhyung-L/GNC There are several things that go into play when a robot is moving from point A to point B. Assuming the robot has a map of the environment and is localized inside that map, it first needs a GLOBAL path planner. The role of the global path planner is to find the shortest path from the robot's current pose to the goal pose while avoiding obstacle defined by the global map. However, the global path planner alone is not sufficient for moving in a dynamic environment as the global map is static.