Obstacles avoidance

[mechaliomar]

How do you avoid obstacles? How do you model an obstacle

[alifahrri]

Hi, at the current master branch, the obstacles were modeled as dynamic circles (e.g. circles with tuples of px, py, vx, vy); I am working on more generic definition of obstacles in the devel branch. To avoid the obstacles, kinodynamic-RRT* algorithm was used.
Btw, this project is a part of my other project that combine motion planning and trajectory tracking, I suggest you to checkout this repo to get better insight.